Discretionary behavior switching: analysis and synthesis results. - Michael A. Goodrich; Thomas J. Palmer (SMC, 2000)

Satisficing Anytime Action Search for Behavior-Based Voting. - Thomas J. Palmer; Michael A. Goodrich (ICRA, 2002)

Learning grasp affordances with variable centroid offsets. - Thomas J. Palmer; Andrew H. Fagg (IROS, 2009)

Learning to predict action outcomes in continuous, relational environments. - Thomas J. Palmer; Matthew Bodenhamer; Andrew H. Fagg (ICDL-EPIROB, 2012)