| 2009 | IWANN | Interactive Animation of Agent Formation Based on Hopfield Neural Networks. | Rafael Kelly, Carmen Monroy |
| 2007 | IFSA | On Control for Agents Formation. | Rafael Kelly, Eusebio Bugarin, Carmen Monroy |
| 2005 | ICRA | A Fixed- Camera Controller for Visual Guidance of Mobile Robots via Velocity Fields. | Rafael Kelly, Victor Sanchez, Eusebio Bugarin, Humberto Rodrguez |
| 2003 | ICRA | Uniform parametric convergence in the adaptive control of manipulators: a case restudied. | Antonio Lora, Rafael Kelly, Andrew R. Teel |
| 2003 | ICRA | Hierarchical velocity field control for robot manipulators. | Javier Moreno-Valenzuela, Rafael Kelly |
| 2002 | ICRA | Experimental Evaluation of Task Space Regulators using Unit Quaternions on a Direct-Drive Spherical Wrist. | Elosa Garca, Rafael Kelly |
| 2002 | ICRA | On Manipulator Velocity Control using Friction Compensation. | Javier Moreno-Valenzuela, Rafael Kelly, Ricardo Campa |
| 2001 | ICRA | On Stability of the Resolved Acceleration Control. | Ricardo Campa, Rafael Kelly, Elosa Garca |
| 2000 | ICRA | Fuzzy PD+ Control for Robot Manipulators. | Victor Santibaez, Rafael Kelly, Miguel A. Llama |
| 1999 | ICRA | Determination of Viscous and Coulomb Friction by Using Velocity Responses to Torque Ramp Inputs. | Rafael Kelly, Jess Llamas |
| 1999 | ICRA | A Two Loops Direct Visual Control of Direct-Drive Planar Robots with Moving Target. | Rafael Kelly, Fernando Reyes-Corts, Javier Moreno-Valenzuela, Seth Hutchinson |
| 1999 | ICRA | Global Convergence of the Adaptive PD Controller with Computed Feedforward for Robot Manipulators. | Victor Santibaez, Rafael Kelly |
| 1998 | ICRA | Stable Fuzzy Self-Tuning Computed-Torque Control of Robot Manipulators. | Miguel A. Llama, Victor Santibaez, Rafael Kelly, Jesus Flores |
| 1998 | ICRA | Experimental Evaluation of Fixed-Camera Direct Visual Controllers on a Direct-Drive Robot. | Fernando Reyes-Corts, Rafael Kelly |
| 1998 | ICRA | A Class of Nonlinear PID Global Regulators for Robot Manipulators. | Victor Santibaez, Rafael Kelly |
| 1997 | ICRA | On parameter identification of robot manipulators. | Fernando Reyes-Corts, Rafael Kelly |
| 1997 | ICRA | Energy shaping based controllers for rigid and elastic joint robots: analysis via passivity theorems. | Vctor Santibez, Rafael Kelly |
| 1996 | ICRA | Fixed-camera visual servo control for planar robots. | Rafael Kelly, Paul Shirkey, Mark W. Spong |
| 1996 | ICRA | Global regulation for robot manipulators under SP-SD feedback. | Vctor Santibez, Rafael Kelly |
| 1995 | ICRA | Strict Lyapunov Functions for Global Regulation of Robot Manipulators. | Victor Santibaez, Rafael Kelly |
| 1989 | ICRA | On adaptive impedance control of robot manipulators. | Rafael Kelly, Ricardo O. Carelli, Mauricio Amestegui, Romeo Ortega |
| 1988 | ICRA | Adaptive control of robot manipulators: an input-output approach. | Rafael Kelly, Romeo Ortega |
| 1987 | ICRA | Robustness enhancement of computer torque robot control via adaptive compensation. | Romeo Ortega, Rafael Kelly, Juan Ibarra |