Erlang in Real Time: (ISBN: 0864447434) was written by Maurice Castro to support the course `CS584 Real Time and Concurrent Systems' at RMIT University in 1998. A revised edition is available in postscript form from this site in addition to the sample code used in the course.
Programming Rules: Erlang Programming Style Guidelines from Ericsson (pdf)
Robust Server: This tutorial shows you how to build a simple fault-tolerant server.