- "I Would Like Some Food: Anchoring Objects to Semantic Web Information in Human-Robot Dialogue Interactions", Andreas Persson, Silvia Coradeschi, Balasubramanian Rajasekaran, Vamsi Krishna, Amy Loutfi, Marjan Alirezaie, Proceedings of 5th International Conference on Social Robotics, 2013, Bristol, UK, pp. 361-370
- "Autonomous Mission with a Mobile Manipulator - A solution to the MBZIRC", Jan Carius, Martin Wermelinger, Balasubramanian Rajasekaran, Kai Holtmann, Marco Hutter, Proceedings of 11th Conference on Field and Service Robotics (FSR 2017), Zurich, Switzerland, pp. 559-573
- "Deployment of an autonomous mobile manipulator at MBZIRC", Jan Carius, Martin Wermelinger, Balasubramanian Rajasekaran, Kai Holtmann, Marco Hutter, Journal of Field Robotics, Wiley Online Library, Volume 35, 2018, pp. 1342-1357