As it took me a while to get automated server connections to AFS servers, the following might help someone else save some time. Here's how I did it...
Short version
A correct AFP URL file has to be created and put into the login items panel.
Details
The format of an AFP URL is:
afp://[username[;AUTH=authtype][:password]@]Note: Shown on two rows for a narrower display; enter as one row without any spaces when creating the AFP URL.
server_name[:port]/[volumename][/path]
afp://vogunaescht:letmein@afp.somewhere.net[Shown on two rows]
/shared_hd/vogunaescht_home
afp://;AUTH=No%20User%20Authent@192.168.1.234/shared_hd/Reference
Mac OS X Hints
http://hints.macworld.com/article.php?story=20020906055811486