An Application-Driven Architecture for Residential Energy Management with Wireless Sensor Networks. - Nathan Ota; Spencer Ahrens; Andrew Redfern; Paul K. Wright; Xin Yang (MASS, 2006)

The MIT Indoor Multi-Vehicle Flight Testbed. - Mario J. Valenti; Brett Bethke; Daniel Dale; Adrian A. Frank; James S. McGrew; Spencer Ahrens; Jonathan P. How; John Vian (ICRA, 2007)

Vision-based guidance and control of a hovering vehicle in unknown, GPS-denied environments. - Spencer Ahrens; Daniel S. Levine 002; Gregory Andrews; Jonathan P. How (ICRA, 2009)