Book

• P Appelqvist,
  Mechatronics Design of a Robot Society - A Case Study of Minimalist Underwater Robots for Distributed Perception and Task Execution,
  Espoo: 2000.

Publication in series

• M Vainio,
  Intelligence through interactions - underwater robot society for distributed operations in closed aquatic environment,
  Espoo: Teknillinen korkeakoulu, 1999. (Laboratory of Automation Technology, Research reports, 21).

Journal article

• M Vainio, P Appelqvist and A Halme,
  "Mobile robot society for distributed operations in a closed aquatic environment,"
  Robotica, Vol. 18, s. 235-250, 2000.
• A Halme, M Vainio, T Schönberg and P Appelqvist,
  "Yhteisörobotiikan periaatteelle rakentuva liikkuva anturi/toimilaitejärjestelmä,"
  Automaatioväylä, no. 1, s. 30-32, 1997.

Book article

• A Halme, P Jakubik, T Schönberg and M Vainio,
  "The concept of robot society and its utilisation in future robotics,"
  in Advanced Robotics & Intelligent Machines, J. O Gray and D. G Caldwell, London: The Institution of Electrical Engineers, 1996, s. 255-270.
• M Vainio, A Halme, P Appelqvist, P Kahkonen, P Jakubik, T Schonberg and Y Wang,
  "An Application Concept of an Underwater Robot Society,"
  in Distributed Autonomous Robotic Systems 2, H. Asama, Tokyo: Springer, 1996, s. 103-114.
• M Vainio, T Schönberg, A Halme and P Jakubik,
  "Optimizing the performance of a robot society in structured environment through genetic algorithms,"
  in Advances in Artificial Life, F Moran, A Moreno, J. J Merelo and P Chacon, Germany: Springer, 1995, 733-746.

Conference article

• Pekka Appelqvist,
  "SUBMAR Robots for Robot Society Studies and Mobile Measurements in Liquid Processes,"
  in Proc. The 13th International Symposium on Measurement and Control in Robotics, Madrid 2003, Madrid: 2003, 2 p.
• Pekka Appelqvist, Mika Vainio and Aarne Halme,
  "The effect of a limited communication within an underwater robot society,"
  in International Conference on Robotics and Applications (RA'2001), 2001.
• M Vainio, P Appelqvist and A Halme,
  "Control architecture for an underwater robot society,"
  in Distributed Autonomous Robotic Systems 4, L.E Parker, G Bekey and J Barhen (Eds.), Springer-Verlag, 2000, pp. 15-24.
• M Vainio, P Appelqvist and A Halme,
  "Underwater robot society for closed aquatic environment,"
  in Proceedings of the 31st International Symposium on Robotics, 2000, s. 238-243.
• A Halme, P Appelqvist and M Vainio,
  "Underwater robot society for distributed operations,"
  in Proc. Scandinavian Symposium on robotics 1999, Oulu, 14.-15.10.1999, Robotic Society in Finland, 1999, s. 183-191.
• A Halme, M Vainio and P Appelqvist,
  "Behavior based control of a biologically oriented underwater robot society,"
  in Proc. Japan Finland 80th aniversary symposium on bioengineering & robotics, Tokyo, Japan, 27.4.1999, The Institute of Physical and Chemical Research, RIKEN, 1999.
• M Vainio, P Appelqvist and A Halme,
  "Generic control architecture for a co-operative robot system,"
  in Proc. The IEEE International Conference on Intelligent Robots and Systems, IEEE, 1998, s. 1119-1125.
• M Vainio, P Appelqvist, T Schönberg and A Halme,
  "Group behaviour of a mobile underwater robot society destroying distributed targets in a closed process environment,"
  in Proceedings of the 3rd IFAC Conference on Intelligent Autonomous Vehicles, 1998, s. 112-117.
• P Appelqvist, A Halme, T Schönberg, M Vainio and Y Wang,
  "Designing simple co-operative sensor/actuator robots for liquid process environments,"
  in Proceedings on the 1st international conference on advanced intelligent mechatronics, Tokio: Waseda University, 1997, s. 1-6.
• A Halme, M Vainio, P Appelqvist, P Jakubik, T Schönberg and A Visala,
  "Underwater robot society doing internal inspection and leak monitoring of water systems,"
  in Proceedings of SPIE sensor fusion and decentralized control in autonomous robotic systems, G. McKee P. Schenker, Washington: The international society for optical engineering, 1997, s. 190-199.
• M Vainio, A Halme, P Jakubik, T Schönberg and P Appelqvist,
  "Robot societies- From simulator studies towards a real world application,"
  in Technical report FS-97-02, K. Dautenhahn, Menlo park, California: American association for artificial intelligence, 1997, s. 137-139.
• A Halme, P Appelqvist, P Jakubik, P Kahkonen, T Schonberg and M Vainio,
  "Bacterium Robot Society - A Biologically Inspired Multi-Agent Concept for Internal Monitoring and Controlling of Processes,"
  in Proc. IEEE International Conference on Robots and Intelligent Systems, Osaka, 1996, Robotic Society of Japan, 1996.
• A Halme, P Jakubik, T Schönberg and M Vainio,
  "Controlling the operation of a robot society through distributed environment sensing,"
  in Preprints of the Workshop on Human-Oriented Design of Advanced Robotics Systems, Austria: Technical University of Vienna, 1995, 65-70.
• M Vainio, T Schönberg and A Halme,
  "Evolving of a fitness based operation strategy for a robot society,"
  in Preprints of the 2nd IFAC Conference on Intelligent Autonomous Vehicles, A Halme and K Koskinen, Helsinki: Finnish Society of Automation, 1995, 372-377.
• A Halme, P Jakubik, T Schönberg and M Vainio,
  "the concept of robot society and its utilization in future robotics,"
  in Proc. international workshop on advanced robotics and intelligent machines, Manchester, 1994, Manchester: University of Salford, 1994, 1.1-10.
• A Halme, P Jakubik, T Schönberg and M Vainio,
  "The Concept of Robot Society and its Utilization,"
  in Proc. IEEE International Workshop on Advanced Robotics, Tsukuba, 1993, IEEE, 1993, 7.