The following publications are possibly variants of this publication:
- The CS Freiburg Team: Playing Robotic Soccer Based on an Explicit World ModelJens-Steffen Gutmann, Wolfgang Hatzack, Immanuel Herrmann, Bernhard Nebel, Frank Rittinger, Augustinus Topor, Thilo Weigel. aim, 21(1):37-46, 2000.
- CS Freiburg s Participation at RoboCup 98: The World Champions in Robotic SoccerBernhard Nebel, Wolfgang Hatzack, Thilo Weigel, Jens-Steffen Gutmann, Immanuel Herrmann, Frank Rittinger, Augustinus Topor. aicom, 11(3-4):243-248, 1998.
- The CS Freiburg Robotic Soccer Team: Reliable Self-Localization, Multirobot Sensor Integration, and Basic Soccer SkillsJens-Steffen Gutmann, Wolfgang Hatzack, Immanuel Herrmann, Bernhard Nebel, Frank Rittinger, Augustinus Topor, Thilo Weigel, Bruno Welsch. robocup 1999: 93-108 [doi]
- CS Freiburg 2001Thilo Weigel, Alexander Kleiner, Florian Diesch, Markus Dietl, Jens-Steffen Gutmann, Bernhard Nebel, Patrick Stiegeler, Boris Szerbakowski. robocup 2002: 26-38 [doi]
- CS Freiburg 99Bernhard Nebel, Jens-Steffen Gutmann, Wolfgang Hatzack. robocup 2000: 703-706
- Evaluation of the Performance of CS Freiburg 1999 and CS Freiburg 2000Guido Isekenmeier, Bernhard Nebel, Thilo Weigel. robocup 2002: 393-398 [doi]
- Cooperating Physical Robots: A Lesson in Playing Robotic SoccerBernhard Nebel. easss 2001: 404-414 [doi]