Authors: Beetz, M Arbuckle, T Belker, T Cremers, AB Schulz, D Bennewitz, M Burgard, W Hahnel, D Fox, D Grosskreutz, H

Citation: M. Beetz et al., Integrated, plan-based control of autonomous robots in human environments, IEEE IN SYS, 16(5), 2001, pp. 56-65