| 2023 | IECON | Coordination and Control of Autonomous Mobile Robot Systems with Entropy as a Dualistic Performance Measure. | Eric Halbach, Tapio Heikkil |
| 2022 | INDIN | Entropy-based coordination for maintenance tasks of an autonomous mobile robot system. | Tapio Heikkil, Eric Halbach, Jukka Koskinen, Janne Saukkoriipi |
| 2021 | Networking | Applying 5G and Edge Processing in Smart Manufacturing. | Jari Montonen, Jukka Koskinen, Jukka Mkel, Sami Ruponen, Tapio Heikkil, Markku Hentula |
| 2021 | PIMRC | Smart Manufacturing Multi-Site Testbed with 5G and Beyond Connectivity. | Ilkka Harjula, Mikko Uitto, Marko Jurmu, Jukka Koskinen, Jukka Mkel, Stefan Walter, Markku Hentula, Tapio Heikkil, Marja Lintala, Kysti Rautiola |
| 2013 | SAFECOMP | Designing Autonomous Robot Systems - Evaluation of the R3-COP Decision Support System Approach. | Tapio Heikkil, Lars Dalgaard, Jukka Koskinen |
| 2006 | ICRA | Planning of Sensory Feedback in Industrial Robot Workcells. | Mikko Sallinen, Tapio Heikkil, Matti Sirvi |
| 2000 | IROS | Flexible hand-eye calibration for multi-camera systems. | Tapio Heikkil, Mikko Sallinen, Toshio Matsushita, Fumiaki Tomita |
| 2000 | SMC | Sensor fusion with spatial uncertainties in a holonic multirobot workcell. | Mikko Sallinen, Tapio Heikkil, Mika Rintala |
| 1993 | IROS | An embedded monitoring system for intelligent robots. | Jrg-Michael Hasemann, Tapio Heikkil |
| 1993 | IROS | A skilled and intelligent paper roll manipulator. | Tapio Heikkil, Pentti Vh, Jyrki Okkonen |
| 1993 | IROS | A concept of rule-based planning and execution system for sensor-guided manipulation. | Toshio Matsushita, Shigeyuki Sakane, Tapio Heikkil, Pentti Vh |
| 1991 | IROS | Planning based sensing and task executing in an autonomous machine. | Tapio Taipale, Sakari Piesk, Jukka Riekki, Tapio Heikkil |
| 1990 | IROS | Object pose estimation based on one-degree-of-freedom sensor. | Tapio Heikkil |
| 1988 | IROS | Planning Of Visual Feedback With Robot - Sensor Co-operation. | Tapio Heikkil, Toshio Matsushita, Tomomasa Sato |