BotSense: An Open-Source Middleware Framework for Unifying and Enabling Intelligent Robotic Systems. - Kim Wheeler; Jerry B. Weinberg; Robin Knight; William Yu; Collin Horvat; Jason Tennyson; Casey Kuhns; Aaron Parker; Jeffrey R. Croxell (Enabling Intelligence through Middleware, 2010)

Hekateros: A Desktop 5 Degree-of-Freedom Robot Arm for the Small-Scale Manipulation Robot Chess Challenge. - Kim Wheeler; Robin Knight; Collin Horvat; Daniel Packard; Casey Kuhns; Brent Wilkins; Robert Shiely (AAAI, 2011)