The Team Description of ARAIBO. - Tamio Arai; Takeshi Fukase; Ryuichi Ueda; Yuichi Kobayashi; Takanobu Kawabe (RoboCup, 2001)

Real-Time Decision Making under Uncertainty of Self-localization Results. - Takeshi Fukase; Yuichi Kobayashi; Ryuichi Ueda; Takanobu Kawabe; Tamio Arai (RoboCup, 2002)

Map of Color Histograms for Robot Navigation. - Takanobu Kawabe; Tamio Arai; Yusuke Maeda; Toshio Moriya (IAS, 2006)