Distributed, reconfigurable architecture for robot companions exemplified by a voice-mail application. - Maksym Figat; Tomasz Kornuta; Marcin Szlenk; Cezary Zielinski (MMAR, 2015)

Reconfigurable control architecture for exploratory robots. - Cezary Zielinski; Wojciech Szynkiewicz; Maksym Figat; Marcin Szlenk; Tomasz Kornuta; Wlodzimierz Kasprzak; Maciej Stefanczyk; Teresa Zielinska; Jan Figat (RoMoCo, 2015)

Reconfigurable Agent Architecture for Robots Utilising Cloud Computing. - Marcin Szlenk; Cezary Zielinski; Maksym Figat; Tomasz Kornuta (Progress in Automation, Robotics and Measuring Techniques (2), 2015)

Robot System Design Procedure Based on a Formal Specification. - Cezary Zielinski; Maksym Figat (AUTOMATION, 2016)

FSM based specification of robot control system activities. - Maksym Figat; Cezary Zielinski; René Hexel (RoMoCo, 2017)

Variable structure robot control systems: The RAPP approach. - Cezary Zielinski; Maciej Stefanczyk; Tomasz Kornuta; Maksym Figat; Wojciech Dudek; Wojciech Szynkiewicz; Wlodzimierz Kasprzak; Jan Figat; Marcin Szlenk; Tomasz Winiarski; Konrad Banachowicz; Teresa Zielinska; et al. (Robotics Auton. Syst., 2017)

Robotic Systems Implementation Based on FSMs. - Cezary Zielinski; Maksym Figat; René Hexel (AUTOMATION, 2018)

Hierarchical Petri Net Representation of Robot Systems. - Maksym Figat; Cezary Zielinski (AUTOMATION, 2019)

Methodology of Designing Multi-agent Robot Control Systems Utilising Hierarchical Petri Nets. - Maksym Figat; Cezary Zielinski (ICRA, 2019)

Communication Within Multi-FSM Based Robotic Systems. - Cezary Zielinski; Maksym Figat; René Hexel (J. Intell. Robotic Syst., 2019)

Robotic System Specification Methodology Based on Hierarchical Petri Nets. - Maksym Figat; Cezary Zielinski (IEEE Access, 2020)

Parameterised robotic system meta-model expressed by Hierarchical Petri nets. - Maksym Figat; Cezary Zielinski (Robotics Auton. Syst., 2022)

Robotic System Specification Language Use Case. - Cezary Zielinski; Maksym Figat (PCC (2), 2023)

Synthesis of Robotic System Controllers Using Robotic System Specification Language. - Maksym Figat; Cezary Zielinski (IEEE Robotics Autom. Lett., 2023)

Analysis of Robotic System Models Through Property Inheritance from Petri Net Meta-models. - Maksym Figat; Cezary Zielinski (CoRR, 2024)