A two level fuzzy PRM for manipulation planning. - Christian L. Nielsen; Lydia E. Kavraki (IROS, 2000)

The inverse approach of FlexPaint [robotic spray painting]. - Georg Biegelbauer; Andreas Pichler; Markus Vincze; Christian L. Nielsen; Henrik J. Andersen; Kurt Häusler (IEEE Robotics Autom. Mag., 2005)