There were papers from Paul Hudak's Yale group on "Frob" - Functional Robotics - that I think pre-date Yampa and used arrows: e.g.: http://www.haskell.org/yampa/AFPLectureNotes.pdf Walid Taha also contributed to this work, there are some more papers here: http://www.cs.rice.edu/~taha/publications.html