Direct Lyapunov design - a synthesis procedure for motor schema using a second-order Lyapunov stability theorem. - Christopher J. Harper; Alan F. T. Winfield (IROS, 2002)

A methodology for provably stable behaviour-based intelligent control. - Christopher J. Harper; Alan F. T. Winfield (Robotics Auton. Syst., 2006)

Towards the Development of International Safety Standards for Human Robot Interaction. - Christopher J. Harper; Gurvinder S. Virk (Int. J. Soc. Robotics, 2010)

Online Hazard Analysis for Autonomous Robots. - Roger Woodman; Alan F. T. Winfield; Christopher J. Harper; Mike Fraser 001 (TAROS, 2011)

Building safer robots: Safety driven control. - Roger Woodman; Alan F. T. Winfield; Christopher J. Harper; Mike Fraser 001 (Int. J. Robotics Res., 2012)

Environmental Hazard Analysis - a Variant of Preliminary Hazard Analysis for Autonomous Mobile Robots. - Sanja Dogramadzi; Maria Elena Giannaccini; Christopher J. Harper; Mohammad Sobhani; Roger Woodman; Jiyeon Choung (J. Intell. Robotic Syst., 2014)