A comparison of grid-type map-building techniques by index of performance. - Ulrich Raschke; Johann Borenstein (ICRA, 1990)

Winning the AAAI Robot Competition. - David Kortenkamp; Marcus J. Huber; Charles J. Cohen; Ulrich Raschke; Clint Bidlack; Clare Bates Congdon; Frank Koss; Terry E. Weymouth (AAAI, 1993)

Integrated Mobile-Robot Design-Winning the AAAI 1992 Robot Competition. - David Kortenkamp; Marcus J. Huber; Charles J. Cohen; Ulrich Raschke; Clint Bidlack; Clare Bates Congdon; Frank Koss; Terry E. Weymouth (IEEE Expert, 1993)