Mobile Robot Control - The Subsumption Architecture and occam-pi. - Jonathan Simpson; Christian L. Jacobsen; Matthew C. Jadud (CPA, 2006)

A Native Transterpreter for the LEGO Mindstorms RCX. - Jonathan Simpson; Christian L. Jacobsen; Matthew C. Jadud (CPA, 2007)

Virtual Machine Based Debugging for occam-pi. - Carl G. Ritson; Jonathan Simpson (CPA, 2008)

Visual Process-Oriented Programming for Robotics. - Jonathan Simpson; Christian L. Jacobsen (CPA, 2008)

Toward Process Architectures for Behavioural Robotics. - Jonathan Simpson; Carl G. Ritson (CPA, 2009)

Process-Oriented Subsumption Architectures in Swarm Robotic Systems. - Jeremy C. Posso; Adam T. Sampson; Jonathan Simpson; Jon Timmis (CPA, 2011)