Delivery service robot using distributed acquisition, actuators and intelligence. - Yoshiro Hada; Harunori Gakuhari; Kunikatsu Takase; Edward Indyanto Hemeldan (IROS, 2004)

Real-time navigation for multiple mobile robots in a dynamic environment. - Harunori Gakuhari; Songmin Jia; Yoshiro Hada; Kunikatsu Takase (RAM, 2004)

Intelligent Home Service Robotic System Based on Robot Technology Middleware. - Songmin Jia; Yoshiro Hada; Harunori Gakuhari; Kunikatsu Takase; Takayuki Ohnishi; Hiroyuki Nakamoto (IROS, 2006)

Network Distributed Monitoring System for Home Service Robots Based on RT Middleware. - Songmin Jia; Harunori Gakuhari; Kunikatsu Takase (J. Adv. Comput. Intell. Intell. Informatics, 2007)