1. Halme A. Heikkilä T, Torvikoski T 1987 An Interactive Robot Control System. International Journal of Robotics and Automation, Vol. 2. No 3.
2. Manninen M, Halme A, Myllylä R 1984 An Aimable Laser Time-of-Flight Range Finder for Rapid Interactive Scene Description. In: Proceedings of the 7th Annual Conference of British Robot Association, Cambridge
3. Halme A, Jakubik P, Schönberg T, Vainio M 1993 The Concept of Robot Society and Its Utilization. In: Proceedings of the IEEE/Tsukuba International Workshop on Advanced Robotics, pp 29–35
4. Distributed Autonomous Robotic Systems 2 1996. Asama H, Fukuda T, Arai T, Endo I (eds), Springer-Verlag, Tokyo
5. Everett H R 1995 Sensors for mobile robots: theory and applications, A K Peters, Wellesley, MA