The CS Freiburg Robotic Soccer Team: Reliable Self-Localization, Multirobot Sensor Integration, and Basic Soccer Skills. - Jens-Steffen Gutmann; Wolfgang Hatzack; Immanuel Herrmann; Bernhard Nebel; Frank Rittinger; Augustinus Topor; Thilo Weigel; Bruno Welsch (RoboCup, 1998)

CS Freiburg's Participation at RoboCup '98: The World Champions in Robotic Soccer. - Bernhard Nebel; Wolfgang Hatzack; Thilo Weigel; Jens-Steffen Gutmann; Immanuel Herrmann; Frank Rittinger; Augustinus Topor (AI Commun., 1998)

The CS Freiburg Team: Playing Robotic Soccer Based on an Explicit World Model. - Jens-Steffen Gutmann; Wolfgang Hatzack; Immanuel Herrmann; Bernhard Nebel; Frank Rittinger; Augustinus Topor; Thilo Weigel (AI Mag., 2000)