In: Karsten Berns; Daniel Görges (Hrsg.). Proceedings of the 28th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2019). International Conference on Robotics in Alpe-Adria-Danube Region (RAAD-2019), June 19-21, Kaiserslautern, Germany, Pages 153-161, Advances in Intelligent Systems and Computing (AISC), Vol. 980, ISBN 978-3-030-19648-6, Springer International Publishing, 2019.