A Modeling Framework for Software Architecture Specification and Validation. - Nicolas Gobillot; Charles Lesire; David Doose (SIMPAR, 2014)

Periodic state-machine aware real-time analysis. - Nicolas Gobillot; David Doose; Charles Lesire; Luca Santinelli (ETFA, 2015)

Measurement-based real-time analysis of robotic software architectures. - Nicolas Gobillot; Fabrice Guet; David Doose; Christophe Grand; Charles Lesire; Luca Santinelli (IROS, 2016)

Validation d'architectures temps-réel pour la robotique autonome. (Validation of real-time architectures for autonomous robotics). - Nicolas Gobillot (2016)

A Design and Analysis Methodology for Component-Based Real-Time Architectures of Autonomous Systems. - Nicolas Gobillot; Charles Lesire; David Doose (J. Intell. Robotic Syst., 2019)