1. E. Amir, P. Maynard-Reid, Logic-based subsumption architecture, in: Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence, 1999
2. E. Amir, P. Maynard-Reid, Logic-based subsumption architecture: Empirical evaluation, in: Proceedings of the AAAI Fall Symposium on Parallel Architectures for Cognition, 2000
3. A. Amir, P. Maynard-Reid, LiSA: A robot driven by logical subsumption, in: Proceedings of the Fifth Symposium on the Logical Formalization of Commonsense Reasoning, 2001
4. The Newell test for a theory of cognition;Anderson;Behavioral and Brain Sciences,2003
5. R.C. Arkin, Governing lethal behavior: Embedding ethics in a hybrid deliberative/reactive robot architecture—Part iii: Representational and architectural considerations, in: Proceedings of Technology in Wartime Conference, Palo Alto, CA, 2008. This and many other papers on the topic are available at the url here given; http://www.cc.gatech.edu/ai/robot-lab/publications.html