CHIMERA: a real-time programming environment for manipulator control. - Donald E. Schmitz; Pradeep K. Khosla; Regis Hoffman; Takeo Kanade (ICRA, 1989)

Implementing real-time robotic systems using CHIMERA II. - David B. Stewart; Donald E. Schmitz; Pradeep K. Khosla (ICRA, 1990)

The Chimera II real-time operating system for advanced sensor-based control applications. - David B. Stewart; Donald E. Schmitz; Pradeep K. Khosla (IEEE Trans. Syst. Man Cybern., 1992)