@article{FerreinJacobsSchifferetal.2011,
  author    = {Alexander Ferrein and Stefan Jacobs and Stefan Schiffer and Daniel Beck},
  title     = {Robust Collision Avoidance in Unknown Domestic Environments / Jacobs, Stefan ; Ferrein, Alexander ; Schiffer, Stefan ; Beck, Daniel ; Lakemeyer, Gerhard},
  journal   = {ROBOCUP 2009: ROBOT SOCCER WORLD CUP XIII},
  pages     = {116 -- 127},
  year      = {2011},
}