Architektur und Ziele der Kooperativen Mobilen Robotersysteme Stuttgart. - Paul Levi; Thomas Bräunl; Matthias Muscholl; W. Alexander Rausch (AMS, 1994)

Kooperation mobiler Roboter in COMROS. - W. Alexander Rausch; Norbert Oswald; Thomas Bräunl; Paul Levi (AMS, 1995)

Types of Cooperation in the Distributed Robot Systems CoMRoS. - W. Alexander Rausch; Paul Levi (Intelligent Robots, 1996)

Asynchronous and Synchronous Cooperation. - W. Alexander Rausch; Paul Levi (DARS, 1996)