1. Akharware, N. (2005). Pipe2: Platform independent petri net editor. M.Sc. thesis, Imperial College of Science, Technology and Medicine, University of London, London, UK.
2. Calisi, D., Censi, A., Iocchi, L., & Nardi, D. (2008, September). OpenRDK: a modular framework for robotic software development. In Proceedings of international conference on intelligent robots and systems (IROS), pp. 1872–1877.
3. Calisi D., Farinelli A., Iocchi L., Nardi D. (2007) Multi-objective exploration and search for autonomous rescue robots. Journal of Field Robotics, Special Issue on Quantitative Performance Evaluation of Robotic and Intelligent Systems 24: 763–777
4. Celaya, J. R., Desrochers, A. A., & Graves, R. J. (2007). Modeling and analysis of multi-agent systems using petri nets. In IEEE international conference on systems, man and cybernetics (ISIC), pp. 1439–1444.
5. Chaimowicz, L., Campos, M. F. M., & Kumar, V. (2002, May). Dynamic role assignment for cooperative robots. In Proceedings of the 2002 IEEE international conference on robotics and automation (ICRA02), pp. 292–298, Washington, DC