Using Behaviour Activity Sequences for Motion Generation and Situation Recognition. - Christopher Armbrust; Lisa Kiekbusch; Karsten Berns (ICINCO (2), 2011)

Verification of Behaviour Networks Using Finite-State Automata. - Christopher Armbrust; Lisa Kiekbusch; Thorsten Ropertz; Karsten Berns (KI, 2012)

Quantitative Aspects of Behaviour Network Verification. - Christopher Armbrust; Thorsten Ropertz; Lisa Kiekbusch; Karsten Berns (Canadian AI, 2013)

Tool-assisted verification of behaviour networks. - Christopher Armbrust; Lisa Kiekbusch; Thorsten Ropertz; Karsten Berns (ICRA, 2013)

Formal Verification of Behaviour Networks Including Hardware Failures. - Lisa Kiekbusch; Christopher Armbrust; Karsten Berns (IAS, 2014)

Analysis and Verification of Complex Robot Systems using Behaviour-Based Control - Lisa Kiekbusch (2017)