Miro - Middleware for Cooperative Robotics. - Gerhard K. Kraetzschmar; Hans Utz; Stefan Sablatnög; Stefan Enderle; Günther Palm (RoboCup, 2001)

The Ulm Sparrows 2001. - Hans Utz; Gerd Mayer; Dominik Maschke; Alexander Neubeck; Peter Schaeffer; Philipp Baer; Ingmar Baetge; Jan Fischer; Roland Holzer; Markus Lauer; Alexander Reisser; Florian Sterk; et al. (RoboCup, 2001)

Towards autonomous vision self-calibration for soccer robots. - Gerd Mayer; Hans Utz; Gerhard K. Kraetzschmar (IROS, 2002)

Improving Vision-Based Self-localization. - Hans Utz; Alexander Neubeck; Gerd Mayer; Gerhard K. Kraetzschmar (RoboCup, 2002)

Miro - middleware for mobile robot applications. - Hans Utz; Stefan Sablatnög; Stefan Enderle; Gerhard K. Kraetzschmar (IEEE Trans. Robotics Autom., 2002)

Playing Robot Soccer under Natural Light: A Case Study. - Gerd Mayer; Hans Utz; Gerhard K. Kraetzschmar (RoboCup, 2003)

Sharing Belief in Teams of Heterogeneous Robots. - Hans Utz; Freek Stulp; Arndt Mühlenfeld (RoboCup, 2004)

Information Integration in a Multi-Stage Object Classifier. - Gerd Mayer; Hans Utz; Günther Palm (AMS, 2005)

Trends in Robotic Software Frameworks. - Davide Brugali; Gregory S. Broten; Antonio Cisternino; Diego Colombo; Jannik Fritsch; Brian P. Gerkey; Gerhard K. Kraetzschmar; Richard T. Vaughan; Hans Utz (PPSDR@ICRA, 2005)

VIP: The Video Image Processing Framework Based on the MIRO Middleware. - Hans Utz; Gerd Mayer; Ulrich Kaufmann; Gerhard K. Kraetzschmar (PPSDR@ICRA, 2005)

Hierarchical behavior organization. - Hans Utz; Gerhard K. Kraetzschmar; Gerd Mayer; Günther Palm (IROS, 2005)

Advanced software concepts and technologies for autonomous mobile robotics. - Hans Utz (2005)

Coordination Without Negotiation in Teams of Heterogeneous Robots. - Michael Isik; Freek Stulp; Gerd Mayer; Hans Utz (RoboCup, 2006)

Autonomous Robotic Inspection for Lunar Surface Operations. - Maria Bualat; Laurence J. Edwards; Terrence Fong; Michael Broxton; Lorenzo Flueckiger; Susan Y. Lee; Eric Park; Vinh To; Hans Utz; Vandi Verma; Clayton Kunz; Matt MacMahon (FSR, 2007)

Measuring robot performance in real-time for NASA robotic reconnaissance operations. - Debra Schreckenghost; Terrence Fong; Hans Utz; Tod Milam (PerMIS, 2009)

Implicit Coordination with Shared Belief: A Heterogeneous Robot Soccer Team Case Study. - Freek Stulp; Hans Utz; Michael Isik; Gerd Mayer (Adv. Robotics, 2010)

Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned. - Lorenzo Flückiger; Hans Utz (J. Field Robotics, 2014)