Model-based chassis control system for an over-actuated planetary exploration rover. - Barthelmes, Stefan; Konigorski, Ulrich (Autom., 2020)

An all-terrain-controller for over-actuated wheeled mobile robots with feedforward and optimization-based control allocation. - Barthelmes, Stefan; Zehnter, Sebastian (2017)

Joint state-parameter estimation for active vehicle suspensions: A Takagi-Sugeno Kalman filtering approach. - Pletschen, Nils; Barthelmes, Stefan; Lohmann, Boris (2015)