1. Wolf, P., Ropertz, T., Berns, K.: Behavior-based obstacle detection in off-road environments considering data quality. In: Gusikhin, K., Olegand Madani (eds.) Informatics in Control, Automation and Robotics, vol. 495. Springer, Cham, pp. 786–809
2. Wolf, P., Berns, K.: Data-fusion for robust off-road perception considering data quality of uncertain sensors. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, September 27–October 1 2021, pp. 6853–6860
3. Wolf, P., Ropertz, T., Berns, K., M. Thul, Wetzel, P., Vogt, A.: Behavior-based control for safe and robust navigation of an unimog in off-road environments. In: Berns, K. et al.: (eds.) Commercial Vehicle Technology 2018. Proceedings of the 5th Commercial Vehicle Technology Symposium—CVT 2018, 13–15 March 2018, pp. 63–76. Springer, Kaiserslautern, Germany
4. Reichardt, M., Föhst, T., Berns, K.: Introducing FINROC: a convenient real-time framework for robotics based on a systematic design approach. Technical Report. Department of Computer Science, Robotics Research Lab, University of Kaiserslautern, Kaiserslautern, Germany, July 2012
5. Proetzsch, M.: Development Process for Complex Behavior-Based Robot Control Systems. Series RRLab Dissertations. Verlag Dr. Hut (2010). http://www.dr.hut-verlag.de/978-3-86853-626-3.html