A predictive online path planning and optimization approach for cooperative mobile service robot navigation in industrial applications. - Felipe Garcia Lopez; Jannik Abbenseth; Christian Henkel; Stefan Dörr (ECMR, 2017)

A harmonized approach for constructing a robust and efficient technology backbone for agile manufacturing systems. - Olga Meyer; Greg Rauhoeft; Christian Henkel; Ambra Calà (INDIN, 2017)

Cloud-based cooperative navigation for mobile service robots in dynamic industrial environments. - Jannik Abbenseth; Felipe Garcia Lopez; Christian Henkel; Stefan Dörr (SAC, 2017)

Adaptive Work Instructions for People with Disabilities in the Context of Human Robot Collaboration. - Matthias Stöhr; Matthias Schneider; Christian Henkel (INDIN, 2018)

Inclusion Through Robotics: Designing Human-Robot Collaboration for Handicapped Workers. - David Kremer; Sibylle Hermann; Christian Henkel; Matthias Schneider (TE, 2018)

An Optimal Algorithm to Solve the Combined Task Allocation and Path Finding Problem. - Christian Henkel; Jannik Abbenseth; Marc Toussaint (IROS, 2019)

Optimized directed roadmap graph for multi-agent path finding using stochastic gradient descent. - Christian Henkel; Marc Toussaint (SAC, 2020)

Ant Colony Optimization based Multi-Robot Planner for Combined Task Allocation and Path Finding. - Agha Ali Haider Qizilbash; Christian Henkel; Sanaz Mostaghim (UR, 2020)

Towards Robust Autonomous Robots Using Statistical Model Checking. - Michaela Klauck; Ralph Lange; Christian Henkel; Selma Kchir; Matteo Palmas (ERF (1), 2024)

GSRM: Building Roadmaps for Query-Efficient and Near-Optimal Path Planning Using a Reaction Diffusion System. - Christian Henkel; Marc Toussaint; Wolfgang Hönig (IROS, 2024)

Surveying Deliberation Practices and Methodological Needs in Robotics Software Engineering. - Michaela Klauck; Christian Henkel; Marco Lampacrescia; Ginny Jorgensen (TAROS, 2025)