Quadtree decomposition of configuration space for robot motion planning. - Jörg Kümpel; Jan Sparbert; Bernd Tibken; Eberhard P. Hofer (ECC, 1999)

Numerical path optimization for path planning with cell decomposition methods. - Jörg Kümpel; Jan Sparbert; Eberhard P. Hofer (ECC, 2001)

Motion control of a mobile robot with adaption to the environment. - Jan Sparbert; Jörg Kümpel; Eberhard P. Hofer (ECC, 2001)