A Distributed PC-Based Control System for Education in Robotics. - Nenad Kircanski; Djordje Lekovic; Mirko Boric; Miomir Vukobratovic; Milan Djurovic; Nevena Djurovic; Tatjana Petrovic; Branko Karan; Dragan Urosevic (Robotica, 1991)

An Experimental Study of Resolved Acceleration Control in Singularities: Damped Least-Squares Approach. - Manja V. Kircanski; Nenad Kircanski; Djordje Lekovic; Miomir Vukobratovic (ICRA, 1994)