@inproceedings{HolzKraetzschmarRome2009,
  author    = {Dirk Holz and Gerhard K. Kraetzschmar and Erich Rome},
  title     = {Robust and Computationally Efficient Navigation in Domestic Environments},
  series = {Baltes, Lagoudakis, et al. (Eds.): RoboCup 2009: Robot Soccer World Cup XIII. Lecture Notes in Computer Science (LNCS), Vol. 5949},
  publisher = {Springer},
  address   = {Berlin, Heidelberg},
  isbn      = {978-3-642-11875-3},
  doi       = {10.1007/978-3-642-11876-0\_10},
  pages     = {104 -- 115},
  year      = {2009},
  language  = {en}
}