A Transputer Architecture For Sensor-based Autonomous Mobile Robots. - Huosheng Hu; Penny Probert Smith; B. S. Y. Rao (IROS, 1989)

Toward a fully decentralized architecture for multi-sensor data fusion. - Hugh F. Durrant-Whyte; B. S. Y. Rao; Huosheng Hu (ICRA, 1990)

Decentralized algorithms and architecture for tracking and identification. - B. S. Y. Rao; James M. Manyika; Hugh F. Durrant-Whyte (IROS, 1991)

A Fully Decentralized Multi-Sensor System For Tracking and Surveillance. - B. S. Y. Rao; Hugh F. Durrant-Whyte; J. A. Sheen (Int. J. Robotics Res., 1993)