Writing Robotics Applications with X-Klaim. - Lorenzo Bettini; Khalid Bourr; Rosario Pugliese; Francesco Tiezzi 001 (ISoLA (2), 2020)

Disciplined use of BPMN for mission modeling of Multi-Robot Systems. - Khalid Bourr; Flavio Corradini; Sara Pettinari; Barbara Re 001; Lorenzo Rossi 001; Francesco Tiezzi 001 (PoEM (Forum), 2021)

Programming Multi-robot Systems with X-KLAIM. - Lorenzo Bettini; Khalid Bourr; Rosario Pugliese; Francesco Tiezzi 001 (ISoLA (3), 2022)

Coordinating and programming multiple ROS-based robots with X-KLAIM. - Lorenzo Bettini; Khalid Bourr; Rosario Pugliese; Francesco Tiezzi 001 (Int. J. Softw. Tools Technol. Transf., 2023)

Model-Driven Development of Multi-Robot Systems: From BPMN Models to X-Klaim Code. - Khalid Bourr; Francesco Tiezzi 001; Lorenzo Bettini (ISoLA (2), 2024)