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"The Interactive Museum Tour-Guide Robot", Proceedings of the National Conference on Artificial Intelligence (AAAI-98), pp. 11-18, 1998.
"Integrating Golog and Planning: An Empirical Evaluation", Proceedings of the 12th International Workshop on Nonmonotonic Reasoning (NMR 2008), no. UNSW-CSE-TR-0819, Sydney, Australia, The University of New South Wales, pp. 10--18, 08/2008.
Integrating decision-theoretic planning and programming for robot control in highly dynamic domains, , Aachen, Germany, RWTH Aachen (Knowledge-based Systems Group), 2003.