- Zenon Hendzel, Paweł Penar: Zastosowanie dwuosobowej gry różniczkowej o sumie zerowej do sterowania elementem mechatronicznym, Modelowanie Inżynierskie no. 60, 2016
- Zenon Hendzel, Paweł Penar: Application of differential games in mechatronic control system, International Journal of Applied Mechanics and Engineering. no 4. vol 21, 2016
- Paweł Penar, Zenon Hendzel: Zastosowanie teorii gier różniczkowych w sterowaniu modułem napędowym mobilnego robota kołowego, Przegląd Mechaniczny 1-2, 2016
- Zenon Hendzel, Paweł Penar: Zero-Sum Differential Game in Wheeled Mobile Robot Control, Mechatronics 2017 - Ideas for Industrial Applications, 2019
- Zenon Hendzel, Paweł Penar: Optimal Control of a Wheeled Robot, Automation 2019: Progress in Automation, Robotics and Measurement Techniques, 2020
- Paweł Penar, Zenon Hendzel: Biologically inspired Neural behavioral control of the wheeled mobile robot, Automation 2021: Progress in Automation, Robotics and Measurement Techniques
- Zenon Hendzel, Paweł Penar: Experimental verification of H∞ control with examples of the movement of a wheeled robot, Bulletin of the Polish Academy of Sciences: Technical Sciences, 2021
- Dariusz Szybicki, Paweł Obal, Paweł Penar, Krzysztof Kurc, Magdalena Muszyńska, Andrzej Burghardt: Development of a Dedicated Application for Robots to Communicate with a Laser Tracker, Electronics 2022.
- Penar, P., Hendzel, Z. Experimental Verification of the Differential Games and H∞ Theory in Tracking Control of a Wheeled Mobile Robot. J Intell Robot Syst 104, 61 (2022).
- Penar, P., Hendzel, Z. (2024). Adaptive Controller Using Genetic Algorithm for Autonomous Wheeled Mobile Robot. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M., Bučinskas, V. (eds) Automation 2024: Advances in Automation, Robotics and Measurement Techniques. AUTOMATION 2024. Lecture Notes in Networks and Systems, vol 1219. Springer, Cham.
- Penar P, Szeremeta M, Gola A. Hardware-software compatibility in robotic cyber-physical systems – an application based approach. Advances in Science and Technology Research Journal. 2025;19(6):330–341.
- P. Penar; M. Szeremeta; M. Szuster, Zastosowanie algorytmu SLAM w realizacji zadania typu "podążaj do celu", 2025 Wrocław, Politechnika Wrocławska
