Supervision of multiple industrial robots: optimal and collision free work cycles. - Hugo Flordal; Domenico Spensieri; Knut Åkesson; Martin Fabian (CCA, 2004)

Compositional Approaches in Supervisory Control with Application to Automatic Generation of Robot Interlocking Policies. - Hugo Flordal (2006)

Compositional Synthesis of Maximally Permissive Supervisors Using Supervision Equivalence. - Hugo Flordal; Robi Malik; Martin Fabian; Knut Åkesson (Discret. Event Dyn. Syst., 2007)

Compositional Verification in Supervisory Control. - Hugo Flordal; Robi Malik (SIAM J. Control. Optim., 2009)