The Howitzer improvement program: lessons learned. - Donald G. Krantz (TRI-Ada, 1989)

Ada development system technical and performance requirements (with rationale). - Donald G. Krantz (TRI-Ada, 1990)

The Aladdex Operating Systems for the Aladdin Multiprocessor. - Donald G. Krantz; Ron Belt; Steve Gunderson; Belle Shenoy; Mark Vojta (TRI-Ada, 1993)

Non-uniform dead-reckoning position estimate updates. - Donald G. Krantz; Maria L. Gini (ICRA, 1996)

A Miniature Robotic System for Reconnaissance and Surveillance. - Dean F. Hougen; Saifallah Benjaafar; Jordan Bonney; John Budenske; Mark Dvorak; Maria L. Gini; Howard French; Donald G. Krantz; Perry Y. Li; Fred Malver; Bradley J. Nelson; Nikolaos Papanikolopoulos; et al. (ICRA, 2000)

Active Video System for a Miniature Reconnaissance Robot. - Kemal Berk Yesin; Bradley J. Nelson; Nikolaos Papanikolopoulos; Richard M. Voyles; Donald G. Krantz (ICRA, 2000)

Enlisting rangers and scouts for reconnaissance and surveillance. - Paul E. Rybski; Nikolaos P. Papanikolopoulos; Sascha Stoeter; Donald G. Krantz; Kemal Berk Yesin; Maria L. Gini; Richard M. Voyles; Dean F. Hougen; Bradley J. Nelson; Michael D. Erickson (IEEE Robotics Autom. Mag., 2000)

Sharing control [multiple miniature robots]. - Paul E. Rybski; Sascha Stoeter; Nikolaos P. Papanikolopoulos; Ian T. Burt; Tom Dahlin; Maria L. Gini; Dean F. Hougen; Donald G. Krantz; Florent Nageotte (IEEE Robotics Autom. Mag., 2002)