@article{Ferrein2011,
  author    = {Alexander Ferrein},
  title     = {Robot controllers for highly dynamic environments with real-time constraints},
  journal   = {K{\"u}nstliche Intelligenz : KI},
  volume    = {24},
  number    = {2},
  pages     = {175 -- 178},
  doi       = {10.1007/s13218-010-0041-3},
  year      = {2011},
}