The role of knowledge in the architecture of a robust robot control. - Maria L. Gini; Rajkumar Doshi; Marc Gluch; Richard E. Smith; Imran A. Zualkernan (ICRA, 1985)

Generating Perception Requests and Expectations to Verify the Execution of Plans. - Richard J. Doyle; David Atkinson; Rajkumar Doshi (AAAI, 1986)