A Generated Property Specification Language for Resilient Multirobot Missions. - Swaib Dragule; Bart Meyers; Patrizio Pelliccione (SERENE, 2017)

Behavior trees in action: a study of robotics applications. - Razan Ghzouli; Thorsten Berger; Einar Broch Johnsen; Swaib Dragule; Andrzej Wasowski (SLE, 2020)

A survey on the design space of end-user-oriented languages for specifying robotic missions. - Swaib Dragule; Thorsten Berger; Claudio Menghi; Patrizio Pelliccione (Softw. Syst. Model., 2021)

Behavior Trees and State Machines in Robotics Applications. - Razan Ghzouli; Thorsten Berger; Einar Broch Johnsen; Andrzej Wasowski; Swaib Dragule (IEEE Trans. Software Eng., 2023)

Effects of specifying robotic missions in behavior trees and state machines. - Swaib Dragule; Engineer Bainomugisha; Patrizio Pelliccione; Thorsten Berger (J. Comput. Lang., 2025)