Monotonous Bisector* Trees - A Tool for Efficient Partitioning of Complex Scenes of Geometric Objects. - Hartmut Noltemeier; Knut Verbarg; Christian Zirkelbach 001 (Data Structures and Efficient Algorithms, 1992)

A Data Structure for Representing and Efficient Querying Large Scenes of Geometric Objects: MB* Trees. - Hartmut Noltemeier; Knut Verbarg; Christian Zirkelbach 001 (Geometric Modelling, 1992)

The C-Tree: A Dynamically Balanced Spatial Index. - Knut Verbarg (Geometric Modelling, 1993)

Dynamic Environmental Modeling by the C-Tree. - Knut Verbarg; Hartmut Noltemeier (Modelling and Planning for Sensor Based Intelligent Robot Systems, 1994)

Umweltmodellierung und Bewegungsplanung. - Andreas Beck; Paul Holaj; Hartmut Noltemeier; Knut Verbarg (Informationstechnik Tech. Inform., 1994)

Planning of Fast and Secure Paths in Complex Configuration Spaces Using Simple Primitives. - Knut Verbarg (Intelligent Robots, 1996)

Spatial data structures and motion planning in sparse geometric scences. - Knut Verbarg (Shaker, 1997)

Approximate Center Points in Dense Point Sets. - Knut Verbarg (Inf. Process. Lett., 1997)