System-controlled user interaction within the service robotic control architecture MASSiVE. - Oliver Prenzel; Christian Martens; Marco Cyriacks; Chao Wang; Axel Gräser (Robotica, 2007)

Process model for the development of semi-autonomous service robots. - Oliver Prenzel (2009)

Applying Human Learning Principles to User-Centered IoT Systems. - Sang Wan Lee; Oliver Prenzel; Zeungnam Bien (Computer, 2013)