From ESAS to Ares: A Chronology
This viewgraph presentation reviews the decision making that led to the choice of the Ares launch vehicle. There are charts that show comparisons of the features of the ESAS launch vehicles. There is discussion of the rationale of the choice of using a Evolved Expendable Launch Vehicle (EELV) as the launch vehicle for the future Crew Exploration Vehicle.
Cook, Steven A.↗