Garbage Collection for Control Systems - Boris Magnusson; Roger Henriksson (IWMM, 1995)

Scheduling Garbage Collection in Embedded Systems. - Roger Henriksson (1998)

Time-triggered garbage collection: robust and adaptive real-time GC scheduling for embedded systems. - Sven Gestegard Robertz; Roger Henriksson (LCTES, 2003)

Industrial robot motion control with real-time Java and EtherCAT. - Sven Gestegard Robertz; Klas Nilsson; Roger Henriksson; Anders Blomdell (ETFA, 2007)

Using real-time Java for industrial robot control. - Sven Gestegard Robertz; Roger Henriksson; Klas Nilsson; Anders Blomdell; Ivan Tarasov (JTRES, 2007)