Decentralized cooperative auction for multiple agent task allocation using synchronized random number generators. - Daniel W. Palmer; Marc Kirshenbaum; Jon Murton; Kelly Zajac; Michael A. Kovacina; Ravi Vaidyanathan (IROS, 2003)

Emergence-Oriented Programming. - Daniel W. Palmer; Marc Kirshenbaum; Linda M. Seiter (SMC, 2005)

Explaining Swarm Design Concepts using an Interactive, vBottom-up Simulation Tool. - Marc Kirshenbaum; Daniel W. Palmer; Phillip McCullick; Ravi Vaidyanathan (Innovative Techniques in Instruction Technology, E-learning, E-assessment, and Education, 2008)