Measurement of Robot Similarity to Determine the Best Demonstrator for Imitation in a Group of Heterogeneous Robots. - Raphael Golombek; Willi Richert; Bernd Kleinjohann; Philipp Adelt (BICC, 2008)

Learning a probabilistic self-awareness model for robotic systems. - Raphael Golombek; Sebastian Wrede 001; Marc Hanheide; Martin Heckmann (IROS, 2010)

Online data-driven fault detection for robotic systems. - Raphael Golombek; Sebastian Wrede 001; Marc Hanheide; Martin Heckmann (IROS, 2011)

Data-driven fault detection for component based robotic systems - Raphael Golombek (2014)