The slides of the talks for Lectures One and Two
The papers are:
R. J. Williams (1995) Semimartingale reflecting Brownian motions in the orthant, Pages 125-137 in Stochastic Networks, IMA Volumes in Mathematics and Its Applications, Volume 71, edited by. F. P. Kelly and R. J. Williams, Springer- Verlag, New York
W. Kang and R. J. Williams (2007) An Invariance Principle for Semimartingale Reflecting Brownian Motions in Domains with Piecewise Smooth Boundaries Annals of Applied Probability, Vol 17 (2007), 741-779.