Computation of an efficient open-loop strategy and its influence on feed-back control. - S. Qu; Kurt Marti (IROS, 1994)

Optimal trajectory planning for robots under the consideration of stochastic parameters and disturbances. - Kurt Marti; S. Qu (J. Intell. Robotic Syst., 1996)

Path Planning for Robots by Stochastic Optimization Methods. - Kurt Marti; S. Qu (J. Intell. Robotic Syst., 1998)