[1] Christian Schlegel, Andreas Steck, Alex Lotz.Model-Driven Software Development in Robotics: Communication Patterns as Key for a Robotics Component Model. In Daisuke Chugo and Sho Yokota, editors, Introduction to Modern Robotics. Pages 119-150. iConcept Press, 978-0980733068 (Hard Cover) / 978-1463789428 (Paperback), 2012

[2] Christian Schlegel, Alex Lotz, Matthias Lutz, Dennis Stampfer, Juan F. Inglés-Romero, and Cristina Vicente-Chicote. "Model-driven software systems engineering in robotics: Covering the complete life-cycle of a robot", in Journal IT - Information Technology: Methods and Applications of Informatics and Information Technology, Volume 57, Issue 2, Pages 85–98, ISSN (Online) 2196-7032, ISSN (Print) 1611-2776, DOI: 10.1515/itit-2014-1069, DE GRUYTER, March 2015.

[3] Matthias Lutz, Dennis Stampfer, Alex Lotz, Christian Schlegel. Service Robot Control Architectures for Flexible and Robust Real-World Task Execution: Best Practices and Patterns. Workshop Roboter-Kontrollarchitekturen, Informatik 2014, Springer LNI der GI, ISBN 978-3-88579-626-8, Stuttgart, September 2014.

[4] Dennis Stampfer, Alex Lotz, Matthias Lutz and Christian Schlegel. "The SmartMDSD Toolchain: An Integrated MDSD Workflow and Integrated Development Environment (IDE) for Robotics Software". Special Issue on Domain-Specific Languages and Models in Robotics, Journal of Software Engineering for Robotics (JOSER), 2016.

[5] Christian Schlegel, Dennis Stampfer. "The SmartMDSD Toolchain: Supporting dynamic reconfiguration by managing variability in robotics software development." Tutorial on Managing Software Variability in Robot Control Systems. Robotics: Science and Systems Conference (RSS 2014), Berkeley, CA, July 13th 2014.