Optimization of waypoint-guided potential field navigation using evolutionary algorithms. - Jesús Savage; Edna Marquez; Jimmy Pettersson; Niklas Trygg; Andreas Petersson; Mattias Wahde (IROS, 2004)

Behavioral Selection Using the Utility Function Method: A Case Study Involving a Simple Guard Robot. - Mattias Wahde; Jimmy Pettersson; Hans Sandholt; Krister Wolff (AMiRE, 2005)

Application of the utility function method for behavioral organization in a locomotion task. - Jimmy Pettersson; Mattias Wahde (IEEE Trans. Evol. Comput., 2005)

A General-purpose Transportation Robot An Outline of Work in Progress. - Mattias Wahde; Jimmy Pettersson (RO-MAN, 2006)

Behavioral selection in domestic assistance robots: A comparison of different methods for optimization of utility functions. - Jimmy Pettersson; David Sandberg; Krister Wolff; Mattias Wahde (SMC, 2006)

Structural Evolution of Central Pattern Generators for Bipedal Walking in 3D Simulation. - Krister Wolff; Jimmy Pettersson; Almir Heralic; Mattias Wahde (SMC, 2006)

Uflibrary: a Simulation Library Implementing the Utility Function Method for Behavioral Organization in Autonomous Robots. - Jimmy Pettersson; Mattias Wahde (Int. J. Artif. Intell. Tools, 2007)