| 2021 | IAS | Autonomous Off-Road Navigation Using Near-Feature-Based World Knowledge Incorporation on the Example of Forest Path Detection. | Patrick Wolf, Axel Vierling, Thorsten Ropertz, Simon Velden, Carlos Guzman, Karsten Berns |
| 2019 | ICINCO | Combining Onthologies and Behavior-based Control for Aware Navigation in Challenging Off-road Environments. | Patrick Wolf, Thorsten Ropertz, Philipp Feldmann, Karsten Berns |
| 2018 | ICRA | Local Behavior-Based Navigation in Rough Off-Road Scenarios Based on Vehicle Kinematics. | Patrick Wolf, Thorsten Ropertz, Moritz Oswald, Karsten Berns |
| 2017 | ICINCO | Quality-Based Behavior-Based Control for Autonomous Robots in Rough Environments. | Thorsten Ropertz, Patrick Wolf, Karsten Berns |
| 2017 | ICINCO | Behavior-Based Obstacle Detection in Off-Road Environments Considering Data Quality. | Patrick Wolf, Thorsten Ropertz, Karsten Berns |
| 2013 | AI | Quantitative Aspects of Behaviour Network Verification. | Christopher Armbrust, Thorsten Ropertz, Lisa Kiekbusch, Karsten Berns |
| 2013 | ICRA | Tool-assisted verification of behaviour networks. | Christopher Armbrust, Lisa Kiekbusch, Thorsten Ropertz, Karsten Berns |
| 2012 | KI | Verification of Behaviour Networks Using Finite-State Automata. | Christopher Armbrust, Lisa Kiekbusch, Thorsten Ropertz, Karsten Berns |