The Dynamical Nightwatch's Problem Solved by the Autonomous Micro-Robot Khepera. - Axel Löffler; Jürgen Klahold; Ulrich Rückert 001 (Artificial Evolution, 1997)

A Visualization Tool for the Mini-Robot Khepera: Behavior Analysis and Optimization. - Axel Löffler; Jürgen Klahold; Manfred Hußmann; Ulrich Rückert 001 (ECAL, 1999)

Continuous Sonar Sensing for Mobile Mini-Robots. - Jürgen Klahold; Jens Rautenberg; Ulrich Rückert 001 (ICRA, 2002)