A structured geometric database in an off-line robot programming system. - Luc Van Aken; Hendrik Van Brussel (Robotica, 1987)

Robot programming languages: the statement of a problem. - Luc Van Aken; Hendrik Van Brussel (Robotica, 1988)

On-line robot trajectory control in joint coordinates by means of imposed acceleration profiles. - Luc Van Aken; Hendrik Van Brussel (Robotica, 1988)