Artificial Ants to Extract Leaf Outlines and Primary Venation Patterns. - Robert J. Mullen; Dorothy Ndedi Monekosso; Sarah Barman; Paolo Remagnino; Paul Wilkin (ANTS Conference, 2008)

Autonomous control laws for mobile robotic surveillance swarms. - Robert J. Mullen; Dorothy Ndedi Monekosso; Sarah A. Barman; Paolo Remagnino (CISDA, 2009)

A review of ant algorithms. - Robert J. Mullen; Dorothy Ndedi Monekosso; Sarah Barman; Paolo Remagnino (Expert Syst. Appl., 2009)

Reactive Coordination and Adaptive Lattice Formation in Mobile Robotic Surveillance Swarms. - Robert J. Mullen; Dorothy Ndedi Monekosso; Sarah Barman; Paolo Remagnino (DARS, 2010)

Towards autonomous robot swarms for multi-target localisation and monitoring with applications to counter IED operations. - Robert J. Mullen; Sarah Barman; Paolo Remagnino; Dorothy Ndedi Monekosso (Int. J. Intell. Def. Support Syst., 2011)

Coordination and control mechanisms for embedded swarm-like agents. - Robert J. Mullen (2011)

Multi-Robot and Multi-Camera Patrolling. - Christopher King; Maria Valera; Raphael Grech; Robert J. Mullen; Paolo Remagnino; Luca Iocchi; Luca Marchetti; Daniele Nardi; Dorothy Ndedi Monekosso; Mircea Nicolescu (Handbook of Soft Computing for Video Surveillance, 2012)

Ant algorithms for image feature extraction. - Robert J. Mullen; Dorothy Ndedi Monekosso; Paolo Remagnino (Expert Syst. Appl., 2013)