Extending the life of legacy robots: MDS-Ach, a real-time, process based, networked, secure middleware based on the x-Ach methodology. - Daniel M. Lofaro; Colin Ward; Magdalena D. Bugajska; Donald Sofge (AMC, 2018)

LPS: A Local Positioning System for Homogeneous and Heterogeneous Robot-Robot Teams, Robot-Human Teams, and Swarms. - Christopher Taylor; Colin Ward; Donald Sofge; Daniel M. Lofaro (UR, 2019)

Evaluation of Spectrum Sharing Algorithms for Networks with Heterogeneous Wireless Devices. - Ankit Walishetti; Igor Kadota; Aidan Kim; Colin Ward; Eduardo Gutierrez; Randall Berry (VCC, 2024)