diff --git a/README.md b/README.md
index b532792fd..aa5056502 100644
--- a/README.md
+++ b/README.md
@@ -33,6 +33,55 @@ Installation instructions for installing from source can be found [here](doc/kin
 
 [![Issues](https://img.shields.io/github/issues/roboticslab-uc3m/kinematics-dynamics.svg?label=Issues)](https://github.com/roboticslab-uc3m/kinematics-dynamics/issues)
 
+## Citation
+
+If you found this project useful, please consider citing the following works:
+
+- [ScrewTheoryLib](libraries/ScrewTheoryLib/)
+
+Łukawski, B., et al, "An inverse kinematics problem solver based on screw theory for manipulator arms," in XLIII Jornadas de Automática, 2022, pp. 864–869.
+
+```bibtex
+@inproceedings{lukawski2022jjaa,
+    author    = {{\L}ukawski, Bartek and Montesino Valle, Ignacio and Victores, Juan G. and Jardón, Alberto and Balaguer, Carlos},
+    title     = {An inverse kinematics problem solver based on screw theory for manipulator arms},
+    booktitle = {XLIII Jornadas de Automática},
+    year      = {2022},
+    pages     = {864--869},
+    publisher = {Universidade da Coruña},
+    doi       = {10.17979/spudc.9788497498418.0864},
+}
+```
+
+- [streamingDeviceController](programs/streamingDeviceController/)
+
+Oña, E., et al, "A modular framework to facilitate the control of an assistive robotic arm using visual servoing and proximity sensing," in IEEE Int. Conf. on Autonomous Robot Systems and Competitions (ICARSC), 2020, pp. 28–33.
+
+```bibtex
+@inproceedings{eona2020icarsc,
+    author    = {{O\~na}, Edwin Daniel and {\L}ukawski, Bartek and Jardón, Alberto and Balaguer, Carlos},
+    title     = {A modular framework to facilitate the control of an assistive robotic arm using visual servoing and proximity sensing},
+    booktitle = {IEEE Int. Conf. on Autonomous Robot Systems and Competitions (ICARSC)},
+    year      = {2020},
+    pages     = {28--33},
+    doi       = {10.1109/ICARSC49921.2020.9096146},
+}
+```
+
+B. Łukawski, J. Victores, C. Balaguer, "A generic controller for teleoperation on robotic manipulators using low-cost devices," in XLIV Jornadas de Automática, 2023, pp. 785–788.
+
+```bibtex
+@inproceedings{lukawski2023jjaa,
+    author    = {{\L}ukawski, Bartek and Victores, Juan G. and Balaguer, Carlos},
+    title     = {A generic controller for teleoperation on robotic manipulators using low-cost devices},
+    booktitle = {XLIV Jornadas de Automática},
+    year      = {2023},
+    pages     = {785--788},
+    publisher = {Universidade da Coruña},
+    doi       = {10.17979/spudc.9788497498609.785},
+}
+```
+
 ## Similar and Related Projects
 
 ### Quaternions
diff --git a/doc/kinematics-dynamics.bib b/doc/kinematics-dynamics.bib
index 3fe4fe09c..7c6cf8d78 100644
--- a/doc/kinematics-dynamics.bib
+++ b/doc/kinematics-dynamics.bib
@@ -5,4 +5,33 @@ @book{pardosgotor2018str_handbook
   year      = 2018,
   month     = 9,
   note      = {ISBN 978-1-7179-3181-8}
-}
\ No newline at end of file
+}
+
+@inproceedings{eona2020icarsc,
+    author    = {{O\~na}, Edwin Daniel and {\L}ukawski, Bartek and Jardón, Alberto and Balaguer, Carlos},
+    title     = {A modular framework to facilitate the control of an assistive robotic arm using visual servoing and proximity sensing},
+    booktitle = {IEEE Int. Conf. on Autonomous Robot Systems and Competitions (ICARSC)},
+    year      = {2020},
+    pages     = {28--33},
+    doi       = {10.1109/ICARSC49921.2020.9096146},
+}
+
+@inproceedings{lukawski2022jjaa,
+    author    = {{\L}ukawski, Bartek and Montesino Valle, Ignacio and Victores, Juan G. and Jardón, Alberto and Balaguer, Carlos},
+    title     = {An inverse kinematics problem solver based on screw theory for manipulator arms},
+    booktitle = {XLIII Jornadas de Automática},
+    year      = {2022},
+    pages     = {864--869},
+    publisher = {Universidade da Coruña},
+    doi       = {10.17979/spudc.9788497498418.0864},
+}
+
+@inproceedings{lukawski2023jjaa,
+    author    = {{\L}ukawski, Bartek and Victores, Juan G. and Balaguer, Carlos},
+    title     = {A generic controller for teleoperation on robotic manipulators using low-cost devices},
+    booktitle = {XLIV Jornadas de Automática},
+    year      = {2023},
+    pages     = {785--788},
+    publisher = {Universidade da Coruña},
+    doi       = {10.17979/spudc.9788497498609.785},
+}
diff --git a/libraries/ScrewTheoryLib/ScrewTheoryTools.hpp b/libraries/ScrewTheoryLib/ScrewTheoryTools.hpp
index 8b55718b9..e2ead307e 100644
--- a/libraries/ScrewTheoryLib/ScrewTheoryTools.hpp
+++ b/libraries/ScrewTheoryLib/ScrewTheoryTools.hpp
@@ -27,6 +27,8 @@ namespace roboticslab
  *   - faster solutions, since there are no iterations involved;
  *   - exact solutions, since the direct formulation guarantees convergence;
  *   - multiple solutions and the possibility to choose the better ones.
+ *
+ * @see @cite lukawski2022jjaa
  */
 
 /**
diff --git a/programs/streamingDeviceController/CentroidTransform.hpp b/programs/streamingDeviceController/CentroidTransform.hpp
index ab5037472..9d994011d 100644
--- a/programs/streamingDeviceController/CentroidTransform.hpp
+++ b/programs/streamingDeviceController/CentroidTransform.hpp
@@ -16,7 +16,7 @@ class StreamingDevice;
 /**
  * @ingroup streamingDeviceController
  *
- * @brief ...
+ * @see @cite eona2020icarsc
  */
 class CentroidTransform
 {
diff --git a/programs/streamingDeviceController/StreamingDeviceController.hpp b/programs/streamingDeviceController/StreamingDeviceController.hpp
index 1205e91ac..f38b0fe89 100644
--- a/programs/streamingDeviceController/StreamingDeviceController.hpp
+++ b/programs/streamingDeviceController/StreamingDeviceController.hpp
@@ -23,6 +23,8 @@ namespace roboticslab
  *
  * @brief Sends streaming commands to the cartesian controller from
  * a streaming input device like the 3Dconnexion Space Navigator.
+ *
+ * @see @cite lukawski2023jjaa
  */
 class StreamingDeviceController : public yarp::os::RFModule,
                                   public yarp::os::TypedReaderCallback<yarp::os::Bottle>