The GuideCane-a computerized travel aid for the active guidance of blind pedestrians. - Johann Borenstein; Iwan Ulrich (ICRA, 1997)

Autonomous vacuum cleaner. - Iwan Ulrich; Francesco Mondada; Jean-Daniel Nicoud (Robotics Auton. Syst., 1997)

VFH+: Reliable Obstacle Avoidance for Fast Mobile Robots. - Iwan Ulrich; Johann Borenstein (ICRA, 1998)

Appearance-Based Obstacle Detection with Monocular Color Vision. - Iwan Ulrich; Illah R. Nourbakhsh (AAAI/IAAI, 2000)

VFH*: Local Obstacle Avoidance with Look-Ahead Verification. - Iwan Ulrich; Johann Borenstein (ICRA, 2000)

Appearance-Based Place Recognition for Topological Localization. - Iwan Ulrich; Illah R. Nourbakhsh (ICRA, 2000)

The GuideCane-applying mobile robot technologies to assist the visually impaired. - Iwan Ulrich; Johann Borenstein (IEEE Trans. Syst. Man Cybern. Part A, 2001)

NavBelt and the Guide-Cane [obstacle-avoidance systems for the blind and visually impaired]. - Shraga Shoval; Iwan Ulrich; Johann Borenstein (IEEE Robotics Autom. Mag., 2003)