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In: Springer Handbook of Robotics. Chapter 14 Pages 329-356 ISBN 978-3-319-32550-7 Springer Berlin Heidelberg 2016.

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In: Advances in Artificial Intelligence. German Conference on Artificial Intelligence (KI-2007) September 10-13 Osnabrück Germany Pages 435-439 Lecture Notes in Computer Science (LNCS) 4667 ISBN 978-3-540-74564-8 Springer 9/2007.

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German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz