| 1998 | RTSS | Schedulability Analysis for Automated Implementations of Real-Time Object-Oriented Models. | Manas Saksena, Alan Ptak, Paul Freedman, Pawel Rodziewicz |
| 1997 | IROS | A computer-based training environment for forestry telemanipulation. | Paul Freedman, Paul MacKenzie, Jean-Franois Lapointe |
| 1997 | RTSS | Guidelines for automated implementation of executable object oriented models for real-time embedded control systems. | Manas Saksena, Paul Freedman, Pawel Rodziewicz |
| 1996 | ICECCS | The Two Real-Time Solitudes: computerized control and telecommunications. | Paul Freedman, Daniel Gaudreau, Raouf Boutaba, Ahmed Mehaoua |
| 1996 | ICRA | Just-in-time sensing: efficiently combining sonar and laser range data for exploring unknown worlds. | Gregory Dudek, Paul Freedman, Ioannis M. Rekleitis |
| 1996 | ICRA | Surface sensing and classification for efficient mobile robot navigation. | Nicholas Roy, Gregory Dudek, Paul Freedman |
| 1996 | RTAS | Temporal Analysis and Object-Oriented Real-Time Software Development: A Case Study with ROOM/ObjecTime. | Daniel Gaudrau, Paul Freedman |
| 1994 | ICRA | Analyzing the Temporal Behavior of Real-Time Closed-Loop Robotic Tasks. | Daniel Simon, Paul Freedman, Eduardo Castillo Castaeda |
| 1993 | IJCAI | Using Local Information in a Non-Local Way for Mapping Graph-Like Worlds. | Gregory Dudek, Paul Freedman, Souad Hadjres |
| 1992 | ICRA | Modelling the actions of an intervention robot. | Paul Freedman |
| 1990 | ICRA | Repetitive sequencing: from workcell tasks to workcell cycles. | Paul Freedman, Rachid Alami |
| 1988 | ICRA | The analysis and optimization of repetition within robot workcell sequencing problems. | Paul Freedman, Alfred S. Malowany |