Robust Collision Avoidance in Unknown Domestic Environments. Jacobs, S., Ferrein, A., Schiffer, S., Beck, D., & Lakemeyer, G. In Baltes, J., Lagoudakis, M. G., Naruse, T., & Ghidary, S. S., editors, RoboCup 2009: Robot Soccer World Cup XIII, volume 5949, of Lecture Notes in Computer Science, pages 116-127. Springer, 2010.
bibtex   
@InCollection{FerreinBSL09,
  author    = {Stefan Jacobs and Alexander Ferrein and Stefan Schiffer
                  and Daniel Beck and Gerhard Lakemeyer},
  title     = {Robust Collision Avoidance in Unknown Domestic Environments},
  pages     = {116-127},
  editor    = {Jacky Baltes and Michail G. Lagoudakis and Tadashi
                Naruse and Saeed Shiry Ghidary},
  booktitle = {RoboCup 2009: Robot Soccer World Cup XIII},
  publisher = {Springer},
  series    = {Lecture Notes in Computer Science},
  volume    = {5949},
  year      = {2010},
}
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