Arco: A cost-effective and flexible hardware maze router. - Júlio S. Aude; Ernesto P. Lopes; Mario F. Martins; S. B. Pinto (Microprocess. Microprogramming, 1993)

CONTROLAB: An Intergrated System for Intelligent Control of a Robot Arm. - Eliana P. L. Aude; Fabrício A. B. da Silva; Ernesto P. Lopes; Mario F. Martins; Henrique Serdeira (ICRA, 1995)

CONTROLAB MUFA: A Multi-Level Fusion Architecture for Intelligent Navigation of a Telerobot. - Eliana P. L. Aude; Gustavo H. M. B. Carneiro; Henrique Serdeira; Julio T. C. Silveira; Mario F. Martins; Ernesto P. Lopes (ICRA, 1999)

Integration of intelligent systems and sensor fusion within the CONTROLAB AGV. - Eliana P. L. Aude; Julio T. C. Silveira; Ernesto P. Lopes; Gustavo H. M. B. Carneiro; Henrique Serdeira; Mario F. Martins (Mobile Robots, 1999)

Application of a Blind Person Strategy for Obstacle Avoidance with the Use of Potential Fields. - Ernesto P. Lopes; Eliana P. L. Aude; Julio T. C. Silveira; Henrique Serdeira; Mario F. Martins (ICRA, 2001)

Real-time obstacle avoidance performed by an autonomous vehicle throughout a smooth trajectory using an electronic stick. - Eliana Prado Lopes Aude; Luis Felipe Saldanha de Menezes; Ernesto P. Lopes; Flavio Signorelli Mendes; Julio Tadeu Carvalho da Silveira; Henrique Serdeira; F. A. B. Suva; Mario F. Martins (IROS, 2003)