"An extended description of MORPH: A reference architecture for configuration and behaviour self-adaptation" (2017) Braberman, V.;D’Ippolito, N.;Kramer, J. (...)de Lemos R. International Seminar on Software Engineering for Self-Adaptive Systems: Assurances, 2013. 9640 LNCS:377-408

"Robust degradation and enhancement of robot mission behaviour in unpredictable environments" (2015) D'Ippolito, N.;Braberman, V.;Sykes, D. (...)ACM Special Interest Group on Software Engineering (SIGSOFT) 1st International Workshop on Control Theory for Software Engineering, CTSE 2015:26-33

"MORPH: A reference architecture for configuration and behaviour self-adaptation" (2015) Braberman, V.;D'Ippolito, N.;Kramer, J. (...)ACM Special Interest Group on Software Engineering (SIGSOFT) 1st International Workshop on Control Theory for Software Engineering, CTSE 2015:9-16