@article{SchifferFerreinLakemeyer2012,
  author    = {Stefan Schiffer and Alexander Ferrein and Gerhard Lakemeyer},
  title     = {Caesar: an intelligent domestic service robot},
  journal   = {Intelligent service robotics},
  volume    = {5},
  number    = {4},
  pages     = {259 -- 276},
  doi       = {10.1007/s11370-012-0118-y},
  year      = {2012},
}