Real-Time Service-Oriented Architectures: A Data-Centric Implementation for Distributed and Heterogeneous Robotic System. - Pekka Alho; Jouni Mattila (IESS, 2013)

Service-oriented approach to fault tolerance in CPSs. - Pekka Alho; Jouni Mattila (J. Syst. Softw., 2015)

Service-based Fault Tolerance for Cyber-Physical Systems: A Systems Engineering Approach. - Pekka Alho (2015)

Patterns for Light-Weight Fault Tolerance and Decoupled Design in Distributed Control Systems. - Pekka Alho; Jari Rauhamäki (Trans. Pattern Lang. Program., 2019)