RoboCoP: A Protocol for Service-Oriented Robot Control Systems. - Dmitry Kononchuk; Victor Kandoba; Sergey Zhigalov; Pavel Abduramanov; Yuri Okulovsky (Eurobot Conference, 2011)

Prime - A Service-oriented Framework with Minimal Communication Overheads. - Sergey Zhigalov; Yuri Okulovsky (ICINCO (1), 2014)