Dipper: A Dynamically Transitioning Aerial-Aquatic Unmanned Vehicle. - Friedrich M. Rockenbauer; Simon L. Jeger; Liberto Beltran; Maximilian Berger; Marvin Harms; Noah Kaufmann; Marc Rauch; Moritz Reinders; Nicholas R. J. Lawrance; Thomas Stastny; Roland Siegwart (Robotics: Science and Systems, 2021)

Neural Control Barrier Functions for Safe Navigation. - Marvin Harms; Mihir Kulkarni; Nikhil Khedekar; Martin Jacquet; Kostas Alexis (IROS, 2024)

Safe Quadrotor Navigation using Composite Control Barrier Functions. - Marvin Harms; Martin Jacquet; Kostas Alexis (CoRR, 2025)

Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions. - Nazar Misyats; Marvin Harms; Morten C. Nissov; Martin Jacquet; Kostas Alexis (CoRR, 2025)