Ein Fahrassistent für ältere und behinderte Menschen. - Thomas Röfer; Axel Lankenau (AMS, 1999)

Coarse Qualitative Descriptions in Robot Navigation. - Rolf Müller; Thomas Röfer; Axel Lankenau; Alexandra Musto; Klaus Stein; Andreas Eisenkolb (Spatial Cognition, 2000)

Architecture and applications of the Bremen Autonomous Wheelchair. - Thomas Röfer; Axel Lankenau (Inf. Sci., 2000)

Smart Wheelchairs - State of the Art in an Emerging Market. - Axel Lankenau; Thomas Röfer (Künstliche Intell., 2000)

Selbstlokalisation in Routengraphen. - Axel Lankenau; Thomas Röfer (AMS, 2001)

A versatile and safe mobility assistant. - Axel Lankenau; Thomas Röfer (IEEE Robotics Autom. Mag., 2001)

Mobile Robot Self-Localization in Large-Scale Environments. - Axel Lankenau; Thomas Röfer (ICRA, 2002)

A Rigorous View of Mode Confusion. - Jan Bredereke; Axel Lankenau (SAFECOMP, 2002)

Route-Based Robot Navigation. - Thomas Röfer; Axel Lankenau (Künstliche Intell., 2002)

The Bremen autonomous wheelchair Rolland - self-localization and shared control. - Axel Lankenau (Logos, 2003)

Self-localization in Large-Scale Environments for the Bremen Autonomous Wheelchair. - Axel Lankenau; Thomas Röfer; Bernd Krieg-Brückner (Spatial Cognition, 2003)

Safety-relevant mode confusions - modelling and reducing them. - Jan Bredereke; Axel Lankenau (Reliab. Eng. Syst. Saf., 2005)