Böhnstedt, L., A. Ferrein, and G. Lakemeyer, "Options in readylog reloaded – generating decision-theoretic plan libraries in golog", KI 2007: Advances in Artificial Intelligence, 30th Annual German Conference on AI, KI 2007, Joachim Hertzberg; Michel Beetz; Roman Englert, vol. 4667: Springer Verlag, pp. 352-366, 2007.

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Beetz, M., and H. Grosskreutz, "Probabilistic Hybrid Action Models for Predicting Concurrent Percept-driven Robot Behavior", Proceedings of the Fifth International Conference on AI Planning Systems (AIPS-2000), 2000.

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Beetz, M., M. Bennewitz, and H. Grosskreutz, "Probabilistic Prediction-based Schedule Debugging for Autonomous Robot Office Couriers", LNAI, KI-99: Advances in Artificial Intelligence, vol. 1701: Springer, pp. 698--698, 1999.

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Beetz, M., and H. Grosskreutz, "Causal Models of Mobile Service Robot Behavior", Fourth International Conference on AI Planning Systems (AIPS-98), 1998.

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