On understanding types, data abstraction, and polymorphism
ACM Computing Surveys (CSUR) - The MIT Press scientific computation series
Common LISP: the language
Functional Refinement and Nested Objects for Object-Oriented Design
IEEE Transactions on Software Engineering
The Case for Electric Design of Real-Time Software
IEEE Transactions on Software Engineering
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Advanced supervised/autonomous robotic systems may be characterized as large and long lived software environments, distributed over a large number of mechanical and computer subsystems. Appropriate hierarchical representations of such robotic systems are desirable, to facilitate system specification, implementation, and evolution. In the end product, this includes planning and programming of robotic tasks and recovery procedures, when tasks fail.