@inproceedings {Jacobs:EtAl:2009:RoboCupAtHomeColli,
        title = {Robust Collision Avoidance in Unknown Domestic Environments},
        booktitle = {RoboCup 2009: Robot Soccer World Cup XIII},
        series = {Lecture Notes in Computer Science},
        volume = {5949},
        year = {2009},
        pages = {116--127},
        publisher = {Springer},
        organization = {Springer},
        address = {Graz, Austria},
        keywords = {Collision Avoidance, Domestic Service Robotics, Mobile Robots, Navigation},
        isbn = {978-3-642-11875-3},
        issn = {0302-9743 (Print) 1611-3349 (Online)},
        doi = {10.1007/978-3-642-11876-0_11},
        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/robocup2009colli.pdf},
        author = {Jacobs, Stefan and Ferrein, Alexander and Schiffer, Stefan and Beck, Daniel and Lakemeyer, Gerhard},
        editor = {Jacky Baltes and Michail G. Lagoudakis and Tadashi Naruse and Saeed Shiry Ghidary,}
}

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