Does It Help a Robot Navigate to Call Navigability an Affordance? - Joachim Hertzberg; Kai Lingemann; Christopher Lörken; Andreas Nüchter; Stefan Stiene (Towards Affordance-Based Robot Control, 2006)

The MACS Project: An Approach to Affordance-Inspired Robot Control. - Erich Rome; Lucas Paletta; Erol Sahin; Georg Dorffner; Joachim Hertzberg; Ralph Breithaupt; Gerald Fritz; Jörg Irran; Florian Kintzler; Christopher Lörken; Stefan May; Emre Ugur (Towards Affordance-Based Robot Control, 2006)

Continuous 3D environment sensing for autonomous robot navigation and mapping. - Dirk Holz; Christopher Lörken (Informatiktage, 2007)

Continuous 3D sensing for navigation and SLAM in cluttered and dynamic environments. - Dirk Holz; Christopher Lörken; Hartmut Surmann (FUSION, 2008)

Evaluation of 3D registration reliability and speed - A comparison of ICP and NDT. - Martin Magnusson 002; Andreas Nüchter; Christopher Lörken; Achim J. Lilienthal; Joachim Hertzberg (ICRA, 2009)

3D-Roboterkartenbau in Osnabrück. - Joachim Hertzberg; Kai Lingemann; Christopher Lörken; Andreas Nüchter; Stefan Stiene; Thomas Wiemann (Künstliche Intell., 2010)