A task description language for robot control. - Reid G. Simmons; David Apfelbaum (IROS, 1998)

Coordination for Multi-Robot Exploration and Mapping. - Reid G. Simmons; David Apfelbaum; Wolfram Burgard; Dieter Fox; Mark Moors; Sebastian Thrun; Håkan L. S. Younes (AAAI/IAAI, 2000)

Coordinated deployment of multiple, heterogeneous robots. - Reid G. Simmons; David Apfelbaum; Dieter Fox; Robert P. Goldman; Karen Zita Haigh; David J. Musliner; Michael J. S. Pelican; Sebastian Thrun (IROS, 2000)

Learning Opportunity Costs in Multi-Robot Market Based Planners. - Jeff G. Schneider; David Apfelbaum; Drew Bagnell; Reid G. Simmons (ICRA, 2005)

Coordinated Control and Range Imaging for Mobile Manipulation. - Dean M. Anderson; Thomas M. Howard; David Apfelbaum; Herman Herman; Alonzo Kelly (ISER, 2008)