Context Aware Robot Navigation using Interactively Built Semantic Maps. Cosgun, A. & Christensen, H. I. Paladyn. Journal of Behavioral Robotics, 9(1):254–276, 2018.
bibtex   
@article{cosgun18:JBR,
 author = {Akansel Cosgun and Henrik I. Christensen},
 journal = {Paladyn. Journal of Behavioral Robotics},
 month = { },
 number = {1},
 pages = {254--276},
 title = {Context Aware Robot Navigation using Interactively
Built Semantic Maps},
 type = {Journal},
 volume = {9},
 year = {2018}
}

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