A 3-D scene interpreter for indoor navigation. - Juha Röning; Tapio Taipale; Matti Pietikäinen (IROS, 1990)

Dynamic planning based control of autonomous machine. - Tapio Taipale; Sakari Pieskä; Jukka Riekki (RTS, 1991)

Planning based sensing and task executing in an autonomous machine. - Tapio Taipale; Sakari Pieskä; Jukka Riekki; Tapio Heikkilä (IROS, 1991)

A behavior-based control system applied over multi-robot system. - Tapio Taipale; Shigeoki Hirai (IROS, 1993)

IRTC: integration of knowledge engineering with real-time control. - Tapio Taipale; Douglas Foxvog (RTS, 1994)

Variable Depth Resolution for Intelligent Real-Time Systems. - Douglas Foxvog; Tapio Taipale (SEKE, 1996)

Multi-threading support for system-level performance simulation of multi-core architectures. - Jukka Saastamoinen; Subayal Khan; Kari Tiensyrjä; Tapio Taipale (ARCS Workshops, 2011)