ROS-based Robotic Applications Orchestration in the Compute Continuum: Challenges and Approaches. - Giovanni Toffetti; Leonardo Militano; Tharaka Ratnayake; Mark Straub (UCC, 2023)

A Method for Multi-Robot Asynchronous Trajectory Execution in MoveIt2. - Pascal Stoop; Tharaka Ratnayake; Giovanni Toffetti (ICRA, 2024)

Can you pass that tool?: Implications of Indirect Speech in Physical Human-Robot Collaboration. - Yan Zhang 122; Tharaka Sachintha Ratnayake; Cherie Sew; Jarrod Knibbe; Jorge Gonçalves 001; Wafa Johal (CHI, 2025)