Robotic Improvisers: Rule-Based Improvisation and Emergent Behaviour in HRI. - Irene Alcubilla Troughton; Kim Baraka; Koen V. Hindriks; Maaike Bleeker (HRI, 2022)

"Improvisation ≠ Randomness": a Study on Playful Rule-Based Human-Robot Interactions. - Irene Alcubilla Troughton; Hendrik von Kentzinsky; Maaike Bleeker; Kim Baraka (RO-MAN, 2023)

Exploring the Potential of Spherical Robots to Promote Physical Activity at Home: A Pattern Language. - Eda Karaosmanoglu; Marco C. Rozendaal; Irene Alcubilla Troughton; Maaike Bleeker; Heike Vallery; Jane Murray Cramm (ACM Trans. Hum. Robot Interact., 2025)