An articulated service robot for autonomous sewer inspection tasks. - Kay-Ulrich Scholl; Volker Kepplin; Karsten Berns; Rüdiger Dillmann (IROS, 1999)

Controlling a Multijoint Robot for Autonomous Sewer Inspection. - Kai-Ulrich Scholl; Volker Kepplin; Karsten Berns; Rüdiger Dillmann (ICRA, 2000)

Steuerung eines mehrsegmentigen Service-Roboters für die Inspektion von Abwasserkanälen (An Articulated Service Robot for Autonomous Sewer Inspection Tasks). - Kay-Ulrich Scholl; Volker Kepplin; Karsten Berns (Informationstechnik Tech. Inform., 2000)