The PHARAOH procedure execution architecture for autonomous robots or collaborative human-robot teams. - Stephen Hart; James Kramer; Seth Gee; Robert R. Burridge (RO-MAN, 2016)

Procedure Automation: Sharing Work with Users. - Debra Schreckenghost; Scott Bell; David Kortenkamp; James Kramer (AAAI Spring Symposia, 2018)