Feature Based Registration of Range Images for Mapping of Natural Outdoor Feature Based Registration of Range Images for Mapping of Natural Outdoor. - Pekka Forsman; Aarne Halme (3DPVT, 2004)

Navigation of an outdoor service robot by matching 2D laser scans. - Jorma Selkäinaho; Pekka Forsman (CIRA, 2005)

3-D mapping of natural environments with trees by means of mobile perception. - Pekka Forsman; Aarne Halme (IEEE Trans. Robotics, 2005)

Using signs for configuring work tasks of service robots. - Mikko Heikkilä; Sami Terho; Minna Hirsi; Aarne Halme; Pekka Forsman (Ind. Robot, 2006)

Tree Measurement and Simultaneous Localization and Mapping System for Forest Harvesters. - Matti Öhman; Mikko Miettinen; Kosti Kannas; Jaakko Jutila; Arto Visala; Pekka Forsman (FSR, 2007)

Simultaneous Localization and Mapping for Forest Harvesters. - Mikko Miettinen; Matti Öhman; Arto Visala; Pekka Forsman (ICRA, 2007)

Best-first branch and bound search method for map based localization. - Jari Saarinen; Janne Paanajärvi; Pekka Forsman (IROS, 2011)

Multi-step motion planning for climbing robots with kinodynamic constraints. - Matthias Füller; Erwin Prassler; Pekka Forsman (ICAR, 2013)

Gyroscopic Precession In Motion Modelling Of Ball-Shaped Robots. - Tomi Ylikorpi; Pekka Forsman; Aarne Halme (ECMS, 2014)

Unified Representation Of Decoupled Dynamic Models For Pendulum-Driven Ball-Shaped Robots. - Tomi Ylikorpi; Pekka Forsman; Aarne Halme; Jari Saarinen (ECMS, 2014)

Dynamic modeling and obstacle-crossing capability of flexible pendulum-driven ball-shaped robots. - Tomi Ylikorpi; Aarne Halme; Pekka Forsman (Robotics Auton. Syst., 2017)