Optimizing the Performance of a Robot Society in Structured Environment Through Genetic Algorithms. - Mika Vainio; Torsten Schönberg; Aarne Halme; Peter Jakubik (ECAL, 1995)

An Application Concept of an Underwater Robot Society. - Mika Vainio; Aarne Halme; Pekka Appelqvist; Pekka Kähkönen; Peter Jakubik; Torsten Schönberg; Yan Wang (DARS, 1996)

Bacterium Robot Society-A biologically inspired multi-agent concept for internal monitoring and controlling of processes. - Aarne Halme; Pekka Appelqvist; Peter Jakubik; Pekka Kähkönen; Torsten Schönberg; Mika Vainio (IROS, 1996)

Positioning an autonomous off-road vehicle by using fused DGPS and inertial navigation. - Torsten Schönberg; M. Ojala; Jussi Suomela; A. Torpo; Aarne Halme (Int. J. Syst. Sci., 1996)