Extension Approach for the Behaviour-Based Control System of the Outdoor Robot RAVON. - Bernd-Helge Schäfer; Martin Proetzsch; Karsten Berns (AMS, 2005)

ROKVISS - Robotics Component Verification on ISS Current Experimental Results on Parameter Identification. - Alin Albu-Schäffer; Wieland Bertleff; Bernhard Rebele; Bernd-Helge Schäfer; Klaus Landzettel; Gerd Hirzinger (ICRA, 2006)

Real-Time Visual Self-Localisation in Dynamic Environments. - Helge Schäfer; P. Hahnfeld; Karsten Berns (AMS, 2007)

Obstacle detection in mobile outdoor robots - a short-term memory for the mobile outdoor platform ravon. - Helge Schäfer; Martin Proetzsch; Karsten Berns (ICINCO-RA (1), 2007)

Action/perception-oriented robot software design: An application in off-road terrain. - Bernd-Helge Schäfer; Martin Proetzsch; Karsten Berns (ICARCV, 2008)

3D obstacle detection and avoidance in vegetated off-road terrain. - Bernd-Helge Schäfer; Andreas Hach; Martin Proetzsch; Karsten Berns (ICRA, 2008)

Using Passages to Support Off-road Robot Navigation. - Christopher Armbrust; Helge Schäfer; Karsten Berns (ICINCO-RA, 2009)

Topological large-scale off-road navigation and exploration RAVON at the European Land Robot Trial 2008. - Tim Braun; Bernd-Helge Schäfer; Karsten Berns (IROS, 2009)

A Behaviour-Based Integration of Fully Autonomous, Semi-Autonomous, and Tele-Operated Control Modes for an Off-Road Robot. - Christopher Armbrust; Martin Proetzsch; Bernd-Helge Schäfer; Karsten Berns (TA, 2010)

Control system design schemata and their application in off-road robotics. - Bernd-Helge Schäfer (2011)

The Application of Design Schemata in Off-Road Robotics. - Bernd-Helge Schäfer; Christopher Armbrust; Tobias Föhst; Karsten Berns (IEEE Intell. Transp. Syst. Mag., 2013)