The Ulm Sparrows: Research into Sensorimotor Integration, Agency Learning, and Multiagent Cooperation. - Gerhard K. Kraetzschmar; Stefan Enderle; Stefan Sablatnög; Thomas Boß; Mark Dettinger; Hans Braxmeier; Heiko Folkerts; Markus Klingler; Dominik Maschke; Gerd Mayer; Markus Müller; Alexander Neubeck; et al. (RoboCup, 1998)

The Ulm Sparrows 99. - Stefan Sablatnög; Stefan Enderle; Mark Dettinger; Thomas Boß; Mohammad Ali Livani; Michael Dietz; Jan Giebel; Urban Meis; Heiko Folkerts; Alexander Neubeck; Peter Schaeffer; Marcus Ritter; et al. (RoboCup, 1999)

Vision-Based Robot Localization Using Sporadic Features. - Stefan Enderle; Heiko Folkerts; Marcus Ritter; Stefan Sablatnög; Gerhard K. Kraetzschmar; Günther Palm (RobVis, 2001)