Cooperation Requirements Planning (CRP) for multiprocessors: Optimal assignment and execution planning. - Venkat N. Rajan; Shimon Y. Nof (J. Intell. Robotic Syst., 1996)

Minimal precedence constraints for integrated assembly and execution planning. - Venkat N. Rajan; Shimon Y. Nof (IEEE Trans. Robotics Autom., 1996)