Safety analysis of autonomous excavator functionality. - Derek W. Seward; Conrad Pace; Richard Morrey; Ian Sommerville (Reliab. Eng. Syst. Saf., 2000)

A Model for Autonomous Safety Management in a Mobile Robot. - Conrad Pace; Derek W. Seward (CIMCA/IAWTIC, 2005)

Safe and effective navigation of autonomous robots in hazardous environments. - Derek W. Seward; Conrad Pace; Rahee Agate (Auton. Robots, 2007)