Towards Robust Mobility, Flexible Object Manipulation, and Intuitive Multimodal Interaction for Domestic Service Robots. - Jörg Stückler; David Droeschel; Kathrin Gräve; Dirk Holz; Jochen Kläß; Michael Schreiber; Ricarda Steffens; Sven Behnke (RoboCup, 2011)

Efficient Mobile Robot Navigation using 3D Surfel Grid Maps. - Jochen Kläß; Jörg Stückler; Sven Behnke (ROBOTIK, 2012)