"A Planner for the Control of Problem Solving Systems," N. Carver and V. Lesser, IEEE Transactions on Systems, Man, and Cybernetics, Special Issue on Planning, Scheduling and Control, vol. 23, no. 6, 1519--1536, 1993.
"Blackboard Architectures for Knowledge-Based Signal Processing," N. Carver and V. Lesser, Symbolic and Knowledge-Based Signal Processing, A. Oppenheim and H. Nawab, editors, Prentice Hall, 1992.
Sophisticated Control for Interpretation: Planning to Resolve Uncertainty, Ph.D. Thesis, Department of Computer Science, University of Massachusetts, 1990.
Norman Carver's home page.