diff --git a/launch/control_manager.launch b/launch/control_manager.launch
index a01e20e..358ab81 100644
--- a/launch/control_manager.launch
+++ b/launch/control_manager.launch
@@ -101,12 +101,12 @@
       <remap from="~set_heading_in" to="~set_heading" />
       <remap from="~set_heading_relative_in" to="~set_heading_relative" />
       <remap from="~transform_reference_in" to="~transform_reference" />
-      <remap from="~transform_reference_list_in" to="~transform_reference_list" />
+      <remap from="~transform_reference_array_in" to="~transform_reference_array" />
       <remap from="~transform_pose_in" to="~transform_pose" />
       <remap from="~transform_vector3_in" to="~transform_vector3" />
       <remap from="~validate_reference_in" to="~validate_reference" />
       <remap from="~validate_reference_2d_in" to="~validate_reference_2d" />
-      <remap from="~validate_reference_list_in" to="~validate_reference_list" />
+      <remap from="~validate_reference_array_in" to="~validate_reference_array" />
       <remap from="~set_min_z_in" to="~set_min_z" />
 
       <!-- Publishers -->
diff --git a/src/control_manager/control_manager.cpp b/src/control_manager/control_manager.cpp
index bf7ddf7..88e4b36 100644
--- a/src/control_manager/control_manager.cpp
+++ b/src/control_manager/control_manager.cpp
@@ -475,14 +475,14 @@ class ControlManager : public nodelet::Nodelet {
 
   // transform service servers
   ros::ServiceServer service_server_transform_reference_;
-  ros::ServiceServer service_server_transform_reference_list_;
+  ros::ServiceServer service_server_transform_reference_array_;
   ros::ServiceServer service_server_transform_pose_;
   ros::ServiceServer service_server_transform_vector3_;
 
   // safety area services
   ros::ServiceServer service_server_validate_reference_;
   ros::ServiceServer service_server_validate_reference_2d_;
-  ros::ServiceServer service_server_validate_reference_list_;
+  ros::ServiceServer service_server_validate_reference_array_;
 
   // bumper service servers
   ros::ServiceServer service_server_bumper_enabler_;
@@ -1844,14 +1844,14 @@ void ControlManager::initialize(void) {
   service_server_parachute_                  = nh_.advertiseService("parachute_in", &ControlManager::callbackParachute, this);
   service_server_set_min_z_                  = nh_.advertiseService("set_min_z_in", &ControlManager::callbackSetMinZ, this);
   service_server_transform_reference_        = nh_.advertiseService("transform_reference_in", &ControlManager::callbackTransformReference, this);
-  service_server_transform_reference_list_   = nh_.advertiseService("transform_reference_list_in", &ControlManager::callbackTransformReferenceArray, this);
+  service_server_transform_reference_array_   = nh_.advertiseService("transform_reference_array_in", &ControlManager::callbackTransformReferenceArray, this);
   service_server_transform_pose_             = nh_.advertiseService("transform_pose_in", &ControlManager::callbackTransformPose, this);
   service_server_transform_vector3_          = nh_.advertiseService("transform_vector3_in", &ControlManager::callbackTransformVector3, this);
   service_server_bumper_enabler_             = nh_.advertiseService("bumper_in", &ControlManager::callbackEnableBumper, this);
   service_server_get_min_z_                  = nh_.advertiseService("get_min_z_in", &ControlManager::callbackGetMinZ, this);
   service_server_validate_reference_         = nh_.advertiseService("validate_reference_in", &ControlManager::callbackValidateReference, this);
   service_server_validate_reference_2d_      = nh_.advertiseService("validate_reference_2d_in", &ControlManager::callbackValidateReference2d, this);
-  service_server_validate_reference_list_    = nh_.advertiseService("validate_reference_list_in", &ControlManager::callbackValidateReferenceArray, this);
+  service_server_validate_reference_array_    = nh_.advertiseService("validate_reference_array_in", &ControlManager::callbackValidateReferenceArray, this);
   service_server_start_trajectory_tracking_  = nh_.advertiseService("start_trajectory_tracking_in", &ControlManager::callbackStartTrajectoryTracking, this);
   service_server_stop_trajectory_tracking_   = nh_.advertiseService("stop_trajectory_tracking_in", &ControlManager::callbackStopTrajectoryTracking, this);
   service_server_resume_trajectory_tracking_ = nh_.advertiseService("resume_trajectory_tracking_in", &ControlManager::callbackResumeTrajectoryTracking, this);
@@ -5000,10 +5000,10 @@ bool ControlManager::callbackTransformReferenceArray(mrs_msgs::TransformReferenc
     return false;
   }
 
-  // transform the reference list to the current frame
+  // transform the reference array to the current frame
   const auto tf_opt = transformer_->getTransform(req.array.header.frame_id, req.to_frame_id, req.array.header.stamp);
   if (!tf_opt.has_value()) {
-    res.message = "The reference list could not be transformed";
+    res.message = "The reference array could not be transformed";
     res.success = false;
     return true;
   }
@@ -5025,7 +5025,7 @@ bool ControlManager::callbackTransformReferenceArray(mrs_msgs::TransformReferenc
 
     } else {
 
-      res.message = "The reference list could not be transformed";
+      res.message = "The reference array could not be transformed";
       res.success = false;
       return true;
     }
diff --git a/test/control_manager/CMakeLists.txt b/test/control_manager/CMakeLists.txt
index a720e44..3dde48a 100644
--- a/test/control_manager/CMakeLists.txt
+++ b/test/control_manager/CMakeLists.txt
@@ -42,7 +42,7 @@ add_subdirectory(reference_topic)
 
 add_subdirectory(validate_reference_service)
 
-add_subdirectory(validate_reference_list_service)
+add_subdirectory(validate_reference_array_service)
 
 add_subdirectory(transform_reference_service)
 
diff --git a/test/control_manager/validate_reference_list_service/CMakeLists.txt b/test/control_manager/validate_reference_array_service/CMakeLists.txt
similarity index 100%
rename from test/control_manager/validate_reference_list_service/CMakeLists.txt
rename to test/control_manager/validate_reference_array_service/CMakeLists.txt
diff --git a/test/control_manager/validate_reference_list_service/test.cpp b/test/control_manager/validate_reference_array_service/test.cpp
similarity index 86%
rename from test/control_manager/validate_reference_list_service/test.cpp
rename to test/control_manager/validate_reference_array_service/test.cpp
index 8add30a..a6e8e1a 100644
--- a/test/control_manager/validate_reference_list_service/test.cpp
+++ b/test/control_manager/validate_reference_array_service/test.cpp
@@ -32,7 +32,7 @@ bool Tester::test() {
     }
   }
 
-  mrs_msgs::ValidateReferenceListRequest req;
+  mrs_msgs::ValidateReferenceArrayRequest req;
 
   req.list.header.frame_id = _uav_name_ + "/world_origin";
 
@@ -81,11 +81,11 @@ bool Tester::test() {
   }
 
   {
-    auto [success, response] = uh->validateReferenceList(req);
+    auto [success, response] = uh->validateReferenceArray(req);
 
     if (!success) {
 
-      ROS_ERROR("[%s]: reference list validation service call failed: '%s'", ros::this_node::getName().c_str(), response->message.c_str());
+      ROS_ERROR("[%s]: reference array validation service call failed: '%s'", ros::this_node::getName().c_str(), response->message.c_str());
       return false;
 
     } else {
@@ -117,11 +117,11 @@ bool Tester::test() {
   {
     req.list.header.frame_id = "frame_that_does_not_exist";
 
-    auto [success, response] = uh->validateReferenceList(req);
+    auto [success, response] = uh->validateReferenceArray(req);
 
     if (success) {
 
-      ROS_ERROR("[%s]: reference list validation service call succeeded but it should not have", ros::this_node::getName().c_str());
+      ROS_ERROR("[%s]: reference array validation service call succeeded but it should not have", ros::this_node::getName().c_str());
       return false;
     }
   }
diff --git a/test/control_manager/validate_reference_list_service/validate_reference_list_service.test b/test/control_manager/validate_reference_array_service/validate_reference_array_service.test
similarity index 100%
rename from test/control_manager/validate_reference_list_service/validate_reference_list_service.test
rename to test/control_manager/validate_reference_array_service/validate_reference_array_service.test