Stanley: The robot that won the DARPA Grand Challenge. - Sebastian Thrun; Michael Montemerlo; Hendrik Dahlkamp; David Stavens; Andrei Aron; James Diebel; Philip W. Fong; John Gale; Morgan Halpenny; Gabriel Hoffmann; Kenny Lau; Celia M. Oakley; et al. (J. Field Robotics, 2006)

Online Speed Adaptation Using Supervised Learning for High-Speed, Off-Road Autonomous Driving. - David Stavens; Gabriel Hoffmann; Sebastian Thrun (IJCAI, 2007)

Real-time indoor mapping for mobile robots with limited sensing. - Ying Zhang 048; Juan Liu 012; Gabriel Hoffmann; Mark Quilling; Kenneth Payne; Prasanta Bose; Andrew Zimdars (MASS, 2010)