Software Environments for Robot Programming. - Bruce A. MacDonald; Geoffrey Biggs; Toby Collett (PPSDR@ICRA, 2005)

All the Robots Merely Players: History of Player and Stage Software. - Geoffrey Biggs; Radu Bogdan Rusu; Toby Collett; Brian P. Gerkey; Richard T. Vaughan (IEEE Robotics Autom. Mag., 2013)