@InProceedings{linderGirrbachIROSWS15,
  title={A Fast Randomized Method to Find Homotopy Classes for Socially-Aware Navigation},
  author={Palmieri, Luigi and Rudenko, Andrey and Arras, Kai O.},
  booktitle={Assistance and Service Robotics Workshop (ASROB-15) at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) 2015},
  address = {Hamburg, Germany},
  year={2015},
}

@InProceedings{linderGirrbachIROSWS15,
  title={Towards a Robust People Tracking Framework for Service Robots in Crowded, Dynamic Environments},
  author={Linder, Timm and Girrbach, Fabian and Arras, Kai O.},
  booktitle={Assistance and Service Robotics Workshop (ASROB-15) at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) 2015},
  address = {Hamburg, Germany},
  year={2015},
}

@InProceedings{linderICRA15,
  title={Real-Time Full-Body Human Gender Recognition in (RGB)-D Data},
  author={Linder, Timm and Wehner, Sven and Arras, Kai O.},
  booktitle={IEEE Int. Conf. on Robotics and Automation (ICRA'15)},
  address = {Seattle, WA, USA},
  year={2015},
}

@InProceedings{palmieriICRA15,
  title={Distance Metric Learning for RRT-Based Motion Planning with Constant-Time Inference},
  author={Palmieri, Luigi and Arras, Kai O.},
  booktitle={IEEE Int. Conf. on Robotics and Automation (ICRA'15)},
  address = {Seattle, WA, USA},
  year={2015},
}

@InProceedings{okalRSS15WS,
  title={Efficient Inverse Reinforcement Learning using Adaptive State-Graphs},
  author={Billy Okal and Hugo Gilbert and Kai O. Arras},
  booktitle={Learning from Demonstration: Inverse Optimal Control, Reinforcement Learning and Lifelong Learning Workshop at Robotics: Science and Systems (RSS)},
  address = {Rome, Italy},
  year={2015},
}

@InProceedings{triebelFSR15,
  title={SPENCER: A Socially Aware Service Robot for Passenger Guidance and Help in Busy Airports},
  author={Triebel, Rudolph and Arras, Kai O. and Alami, Rachid and Beyer, Lucas and Breuers, Stefan and Chatila, Raja and Chetouani, Mohamed and Cremers, Daniel and Evers, Vanessa and Fiore, Michelangelo and Hung, Haley and Islas Ramirez, Omar and Joosse, Michiel. and Khambhaita, Harmish and Kucner, Tomasz and Leibe, Bastian and Lilienthal, Achim and Linder, Timm and Lohse, Manja and Magnusson, Martin and Okal, Billy and Palmieri, Luigi and Rafi, Umer and van Rooij, Marieke and Zhang, Lu},
  booktitle={Conference on Field and Service Robotics (FSR)},
  address = {Toronto, Canada},
  year={2015},
}

@InCollection{tipaldiSTAR14,
  author={Tipaldi, Gian Diego and Braun, Manuel and Arras, Kai O.},
  title={FLIRT: Interest Regions for 2D Range Data with Applications to Robot Navigation},
  booktitle={Experimental Robotics},
  series={Springer Tracts in Advanced Robotics},
  publisher={Springer Berlin Heidelberg},
  editor={Khatib, Oussama and Kumar, Vijay and Sukhatme, Gaurav},
  volume={79},
  pages={695-710},
  year={2014},
}

@InCollection{luberSTAR11,
  author={Luber, Matthias and Tipaldi, Gian Diego and Arras, Kai O.},
  title={Place-Dependent People Tracking},
  booktitle={Robotics Research},
  series={Springer Tracts in Advanced Robotics},
  publisher={Springer Berlin Heidelberg},
  editor={Pradalier, Cedric and Siegwart, Roland and Hirzinger, Gerhard},
  volume={70},
  pages={557-572},
  year={2011},
}

@InProceedings{okalIROSWS14,
  title={Towards Group-Level Social Activity Recognition for Mobile Robots},
  author={Okal, Billy and Arras, Kai O.},
  booktitle={IROS 2014 Workshop on Assistance and Service Robotics in a Human Environment},
  address = {Chicago, USA},
  year={2014},
}

@InProceedings{palmieriIROSWS14,
  title={Distance Metric Learning for {RRT}-Based Motion Planning for Wheeled Mobile Robots},
  author={Palmieri, Luigi and Arras, Kai O.},
  booktitle={IROS 2014 Workshop on Machine Learning in Planning and Control of Robot Motion},
  address = {Chicago, USA},
  year={2014},
}

@InProceedings{linderFUSION14,
  title={Multi-Model Hypothesis Tracking of Groups of People in {RGB-D} Data},
  author={Linder, Timm and Arras, Kai O.},
  booktitle={IEEE Int. Conf. on Information Fusion (FUSION'14)},
  address = {Salamanca, Spain},
  year={2014},
}

@InProceedings{palmieriICAPSWS14,
  title={Efficient and Smooth {RRT} Motion Planning Using a Novel Extend Function for Wheeled Mobile Robots},
  author={Palmieri, Luigi and Arras, Kai O.},
  booktitle={ICAPS 2014 Workshop on Planning and Robotics (PlanRob'14)},
  address = {Portsmouth, USA},
  year={2014},
}

@InProceedings{palmieriIROS14,
  title={A Novel {RRT} Extend Function for Efficient and Smooth Mobile Robot Motion Planning},
  author={Palmieri, Luigi and Arras, Kai O.},
  booktitle={IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'14)},
  address = {Chicago, USA},
  year={2014},
}

@InProceedings{vasquezIROS14,
  title={Inverse Reinforcement Learning Algorithms and Features for Robot Navigation in Crowds: an experimental comparison},
  author={Vasquez, Dizan and Okal, Billy and Arras, Kai O.},
  booktitle={IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'14)},
  address = {Chicago, USA},
  year={2014},
}

@InProceedings{schwenkAAAI14,
  title={Schedule-Based Robotic Search for Multiple Residents in a Retirement Home Environment},
  author={Schwenk, Markus and Vaquero, Tiago and Nejat, Goldie and Arras, Kai O.},
  booktitle={AAAI Conference on Artificial Intelligence (AAAI'14)},
  address = {Quebec, Canada},
  year={2014},
}

@InProceedings{schwenkICAPSWS14,
  title={Planning a Robot's Search for Multiple Residents in a Retirement Home Environment},
  author={Schwenk, Markus and Vaquero, Tiago and Nejat, Goldie and Arras, Kai O.},
  booktitle={ICAPS 2014 Workshop on Planning and Robotics (PlanRob'14)},
  address = {Portsmouth, USA},
  year={2014},
}

@InProceedings{schwenkROMAN14,
  title={{R2-D2} Reloaded: A Flexible Sound Synthesis System for Sonic Human-Robot Interaction Design},
  author={Schwenk, Markus and Arras, Kai O.},
  booktitle={IEEE Int. Symposium on Robot and Human Interactive Communication (RO-MAN'14)},
  address = {Edinburgh, UK},
  year={2014},
}

@InProceedings{beckerasanoHAI14,
  title={Robotic tele-presence with {DARYL} in the wild},
  author={Becker-Asano, Christian and Arras, Kai O. and Nebel, Bernhard},
  booktitle={Int. Conf. on Human-Agent Interaction (HAI'14)},
  year={2014},
  address = {Tsukuba, Japan},
}

@InProceedings{beckerasanoAISB14,
  title={On the Effect of Operator Modality on Social and Spatial Presence during Teleoperation of a Human-Like Robot},
  author={Becker-Asano, Christian and Gustorff, Severin and Arras, Kai O. and Nebel, Bernhard},
  booktitle={Int. Symposium on New Frontiers in Human-Robot Interaction at AISB'14},
  year={2014},
  address = {London, UK},
}

@InProceedings{luberRSS13,
  title={Multi-Hypothesis Social Grouping and Tracking for Mobile Robots},
  author={Luber, Matthias and Arras, Kai O.},
  booktitle = {Robotics: Science and Systems (RSS'13)},
  year = {2013},
  address = {Berlin, Germany},
}

@InProceedings{beckerasanoHRI13,
  title={Robot embodiment, operator modality, and social interaction in tele-existence: A project outline},
  author={Becker-Asano, Christian and Gustorff, Severin and Arras, Kai O. and Ogawa, Kohei and Nishio, Shuichi and Ishiguro, Hiroshi and Nebel, Bernhard},
  booktitle={ACM/IEEE Int. Conf. on Human-Robot Interaction (HRI'13)},
  year={2013},
  address = {Tokyo, Japan},
}

@InProceedings{beckerasanoIROSWS12,
  title={The effect of anthropomorphism on social tele-embodiment},
  author={Becker-Asano, Christian and Arras, Kai O.. and Nebel, Bernhard and Ishiguro, Hiroshi},
  booktitle={IROS 2012 Workshop on Human-Agent Interaction},
  year={2012},
  address = {Vilamoura, Portugal}
}

@InProceedings{luberIROS12,
  title={Socially-aware robot navigation: a learning approach},
  author={Luber, Matthias and Spinello, Luciano and Silva, Jens and Arras, Kai O.},
  booktitle={IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'12)},
  year={2012},
  address = {Vilamoura, Portugal}
}

@InCollection{arrasSTAR12,
  author = {Kai O. Arras and Boris Lau and Slawomir Grzonka and Matthias Luber and Oscar Mart\'{i}nez-Mozos and Daniel Meyer-Delius and Wolfram Burgard},
  title = {Range-Based People Detection and Tracking for Socially Aware Service Robots},
  booktitle = {Towards Service Robots for Everyday Environments},
  series = {Springer STAR series},
  volume = {76},
  year = {2012},
}

@InProceedings{spinelloICRA12,
  author = {Luciano Spinello and Matthias Luber and Kai O. Arras},
  title = {Leveraging {RGB-D} data: adaptive fusion and domain adaptation for object detection},
  booktitle = {IEEE Int. Conf. on Robotics and Automation (ICRA'12)},
  address = {St. Paul, USA},
  year = {2012},
}

@InProceedings{storkROMAN12,
  title={Audio-based human activity recognition using non-Markovian ensemble voting},
  author={Stork, Johannes A and Spinello, Luciano and Silva, Jens and Arras, Kai O.},
  booktitle={IEEE Int. Symposium on Robot and Human Interactive Communication (RO-MAN'12)},
  address = {Paris, France},
  year={2012}
}

@inproceedings{embgenROMAN12,
  title={Robot-specific social cues in emotional body language},
  author={Embgen, Stephanie and Luber, Matthias and Becker-Asano, Christian and Ragni, Marco and Evers, Vanessa and Arras, Kai O..},
  booktitle={IEEE Int. Symposium on Robot and Human Interactive Communication (RO-MAN'12)},
  address = {Paris, France},
  year={2012}
}

@InProceedings{tipaldiIROS11,
  author = {Gian Diego Tipaldi and Kai O. Arras},
  title = {Please do not disturb! Minimum Interference Coverage for Social Robots},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'11)},
  address = {San Francisco, USA},
  year = {2011},
}

@InProceedings{luberIROS11,
  author = {Matthias Luber and Luciano Spinello and Kai O. Arras},
  title = {People Tracking in {RGB-D} Data With Online-Boosted Target Models},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'11)},
  address = {San Francisco, USA},
  year = {2011},
}

@InProceedings{spinelloIROS11,
  author = {Luciano Spinello and Kai O. Arras},
  title = {People Detection in {RGB-D} Data},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'11)},
  address = {San Francisco, USA},
  year = {2011},
}

@InProceedings{luberRSSWS11,
  title={Learning to Detect and Track People in {RGB-D} Data},
  author={Matthias Luber and Luciano Spinello and Kai O. Arras},
  booktitle={RSS 2011 Workshop on RGB-D: Advanced Reasoning with Depth Cameras},
  address = {Los Angeles, USA},
  year={2011},
}

@Article{luberIJRR11,
  author = {Matthias Luber and Gian Diego Tipaldi and Kai O. Arras},
  title = {Place-Dependent People Tracking},
  journal = {International Journal of Robotics Research},
  volume = {30},
  number = {3},
  month = {March},
  year = {2011},
}

@InProceedings{tipaldiICAPS11,
  author = {Gian Diego Tipaldi and Kai O. Arras},
  title = {Planning Problems for Social Robots},
  booktitle = {Proc. International Conference on Automated Planning and Scheduling (ICAPS'11)},
  address = {Freiburg, Germany},
  year = {2011},
}

@InProceedings{spinelloICRA11,
  author = {Luciano Spinello and Matthias Luber and Kai O. Arras},
  title = {Tracking People in 3D Using a Bottom-Up Top-Down People Detector},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'11)},
  address = {Shanghai, China},
  year = {2011},
}

@InProceedings{luberICRA11,
  author = {Matthias Luber and Gian Diego Tipaldi and Kai O. Arras},
  title = {Better Models For People Tracking},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'11)},
  address = {Shanghai, China},
  year = {2011},
}

@InProceedings{tipaldiICRA11,
  author = {Gian Diego Tipaldi and Kai O. Arras},
  title = {I want my coffee hot! {L}earning to find people under spatio-temporal constraints},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'11)},
  address = {Shanghai, China},
  year = {2011},
}

@InProceedings{tipaldiISER10,
  author = {Gian Diego Tipaldi and Manuel Braun and Kai O. Arras},
  title = {FLIRT: Interest Regions for 2D Range Data with Applications to Robot Navigation},
  booktitle = {12th Int. Symposium on Experimental Robotics (ISER'10)},
  year = {2010},
  address = {New Delhi, India},
}

@InProceedings{spinelloAAAI10,
  author = {Luciano Spinello and Kai O. Arras and Rudolph Triebel and Roland Siegwart},
  title = {A Layered Approach to People Detection in 3D Range Data},
  booktitle = {Proc. 24th AAAI Conference on Artificial Intelligence, PGAI Track (AAAI'10)},
  year = {2010},
  address = {Atlanta, USA},
}

@InProceedings{spinelloECCV10,
  author = {Luciano Spinello and Rudolph Triebel and Dizan Vasquez and Kai O. Arras and Roland Siegwart},
  title = {Exploiting Repetitive Object Patterns for Model Compression and Completion},
  booktitle = {European Conference on Computer Vision (ECCV'10)},
  year = {2010},
  address = {Heraklion, Greece},
}

@InProceedings{luberICRA10,
  author = {Matthias Luber and Johannes A. Stork and Gian Diego Tipaldi and Kai O. Arras},
  title = {People Tracking with Human Motion Predictions from Social Forces},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'10)},
  year = {2010},
  address = {Anchorage, USA},
}

@InProceedings{tipaldiICRA10,
  author = {Gian Diego Tipaldi and Kai O. Arras},
  title = {{FLIRT} - {I}nterest Regions for 2D Range Data},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'10)},
  year = {2010},
  address = {Anchorage, USA},
}

@Article{lauIJSR10,
  author = {Boris Lau and Kai O. Arras and Wolfram Burgard},
  title = {Multi-Model Hypothesis Group Tracking and Group Size Estimation},
  journal = {International Journal of Social Robotics},
  volume = {2},
  number = {1},
  month = {March},
  year = {2010},
}

@InProceedings{vandevenICRA10,
  author = {J. Van de Ven and Fabio Ramos and Gian Diego Tipaldi},
  title = {An Integrated Probabilistic Model for Scan Matching, Moving Object Detection and Motion Estimation},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'10)},
  year = {2010},
  address = {Anchorage, USA},
}

@Proceedings{arrasRAS10,
  editor = {Kai O. Arras and Wolfram Burgard and Horst-Michael Gross},
  title = {Selected papers from the 2007 European Conference on Mobile Robots (ECMR '07)},
  journal = {Robotics and Autonomous Systems},
  volume = {85},
  number = {2},
  month = {February},
  year = {2010},
}

@Proceedings{arrasIJSR10,
  editor = {Kai O. Arras and \'{O}scar Mart\'{i}nez Mozos},
  title = {Special issue on People Detection and Tracking},
  journal = {International Journal of Social Robotics},
  volume = {2},
  number = {1},
  month = {March},
  year = {2010},
}

@InBook{muellerCOSMOS10,
  author = {J\"{o}rg M\"{u}ller and Cyrill Stachniss and Kai O. Arras and Wolfram Burgard},
  chapter = {Socially Inspired Motion Planning for Mobile Robots in Populated Environments},
  title = {Cognitive Systems},
  series = {Cognitive Systems Monographs},
  publisher = {Springer},
  year = {2010},
  note = {In press},
}

@TechReport{tipaldiTR09,
  author = {Gian Diego Tipaldi and Kai O. Arras},
  title = {FLIRT -- Interest Regions for 2D Range Data},
  type = {Technical Report},
  number = {Nr. 249},  
  institution = {Institut fuer Informatik, University of Freiburg},
  year = {2009},
}

@InProceedings{tipaldiIROS09,
  author = {Gian Diego Tipaldi and Fabio Ramos},
  title = {Motion Clustering and Estimation with Conditional Random Fields},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'09)},
  year = {2009},
  address = {San Louis, USA},
}

@InProceedings{luberISRR09,
  author = {Matthias Luber and Gian Diego Tipaldi and Kai O. Arras},
  title = {Place-Dependent People Tracking},
  booktitle = {Proc. International Symposium on Robotics Research (ISRR'09)},
  year = {2009},
  address = {Lucerne, Switzerland},
}

@Proceedings{arrasICRAWS09,
  editor = {Kai O. Arras and \'{O}scar Mart\'{i}nez Mozos},
  title = {People Detection and Tracking, ICRA'09 Workshop Proceedings},
  address = {Kobe, Japan},
  month = {May},
  year = {2009},
}

@Article{luberAURO09,
  author = {Matthias Luber and Kai O. Arras and Christian Plagemann and Wolfram Burgard},
  title = {Classifying Dynamic Objects: An Unsupervised Learning Approach},
  journal = {Autonomous Robots},
  year = {2009},
  volume = {26},
  number = {2-3},
  pages = {141--151},
}

@PhdThesis{tipaldiPHD09,
  author = {Gian Diego Tipaldi},
  title = {Looking Inside for Mapping the Outside: Introspective Simultaneous Localization and Mapping},
  school = {University of Rome La Sapienza, PhD Thesis},
  year = {2009},
  note = {in press},
}

@InCollection{MollerICBBE09,
  author = {Knut Moller and F. Toth and L. Wang and J. Moller and Kai Oliver Arras and M. Bach and S. Schumann and J. Guttmann},
  title = {Enhanced Perception for Visually Impaired People},
  booktitle = {IEEE International Conference on Bioinformatics and Biomedical Engineering (ICBBE'09)},
  year = {2009},
  address = {Beijing, China},
}

@InProceedings{lauICRA09,
  author = {Boris Lau and Kai O. Arras and Wolfram Burgard},
  title = {Tracking Groups of People with a Multi-Model Hypothesis Tracker},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'09)},
  year = {2009},
  address = {Kobe, Japan},
}

@InProceedings{luberRSS08,
  author = {Matthias Luber and Kai O. Arras and Christian Plagemann and Wolfram Burgard},
  title = {Classifying Dynamic Objects: An Unsupervised Learning Approach},
  booktitle = {Robotics: Science and Systems (RSS'08)},
  year = {2008},
  address = {Zurich, Switzerland},
}

@InProceedings{arrasICRA08,
  author = {Kai O. Arras and Slawomir Grzonka and Matthias Luber and Wolfram Burgard},
  title = {Efficient People Tracking in Laser Range Data using a Multi-Hypothesis Leg-Tracker with Adaptive Occlusion Probabilities},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'08)},
  year = {2008},
  address = {Pasadena, USA},
}

@InProceedings{censiICRA08,
  author = {Andrea Censi and Gian Diego Tipaldi},
  title = {Lazy Localization using the Frozen Time Smoother},
  booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA}'08)},
  pages = {3167--3172},
  year = {2008},
  month = {May},
  address = {Pasadena, CA},
}

@InProceedings{muellerCOGSYS08,
  author = {J\"{o}rg M\"{u}ller and Cyrill Stachniss and Kai O. Arras and Wolfram Burgard},
  title = {Socially Inspired Motion Planning for Mobile Robots in Populated Environments},
  booktitle = {International Conference on Cognitive Systems (CogSys'08)},
  year = {2008},
  address = {Karlsruhe, Germany},
}

@InProceedings{iocchiSSRR07,
  author = {L. Iocchi and S. Pellegrini and G. D. Tipaldi},
  title = {Building multi-level planar maps integrating {LRF}, stereo vision and {IMU} sensors},
  booktitle = {Proc. of {IEEE} International Workshop on Safety, Security and Rescue Robotics ({SSRR}'07)},
  year = {2007},
  address = {Rome, Italy},
}

@Article{grisettiRAS07,
  author = {G. Grisetti and G.D. Tipaldi and C. Stachniss and W. Burgard and D. Nardi},
  title = {Fast and Accurate {SLAM} with Rao-Blackwellized Particle Filters},
  journal = {Robotics and Autonomous Systems, Special Issue on Simultaneous Localization and Map Building},
  year = {2007},
  volume = {55},
  number = {1},
  pages = {30--38},
}

@InProceedings{tipaldiIROS07,
  author = {Gian Diego Tipaldi and Giorgio Grisetti and Wolfram Burgard},
  title = {Approximated Covariance Estimation in Graphical Approaches to SLAM},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07)},
  address = {San Diego, USA},
  year = {2007},
}

@InProceedings{tipaldiICRA07,
  author = {Gian Diego Tipaldi and Alessandro Farinelli and Luca Iocchi and Daniele Nardi},
  title = {Heterogeneous Feature State Estimation with Rao-Blackwellized Particle Filters},
  booktitle = {Proc. {IEEE} International Conference on Robotics and Automation (ICRA'07)},
  year = {2007},
  address = {Rome, Italy},
}

@InProceedings{grisettiICRA06,
  author = {G. Grisetti and G. D. Tipaldi and C. Stachniss and W. Burgard and D. Nardi},
  title = {Speeding Up {R}ao {B}lackwellized {SLAM}},
  booktitle = {Proc. {IEEE} International Conference on Robotics and Automation (ICRA'06)},
  year = {2006},
  address = {Orlando, USA},
}

@InProceedings{arrasICRA07,
  author = {Kai O. Arras and \'{O}scar Mart\'{i}nez Mozos and Wolfram Burgard},
  title = {Using Boosted Features for the Detection of People in 2D Range Data},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'07)},
  year = {2007},
  address = {Rome, Italy},
}

@TechReport{arrasTR05,
  author = {Kai O. Arras and Daniela Cerqui},
  title = {Do we want to share our lives and bodies with robots? A 2000-people survey},
  type = {Technical Report},
  number = {EPFL-ASL-TR-0605-001},  
  institution = {Autonomous Systems Lab, Swiss Federal Institute of Technology Lausanne},
  month = {June},
  year = {2005},
}

@Manual{arrasManual04,
  author = {Kai O. Arras},
  title = {The CAS Robot Navigation Toolbox: Users Guide and Reference},
  type = {Manual},
  organization = {Center for Autonomous Systems, KTH},
  month = {September},
  year = {2004},
}

@InProceedings{wulfICRA04,
  author = {Oliver Wulf and Kai O. Arras and Henrik I. Christensen and Bernardo Wagner},
  title = {2{D} Mapping of Cluttered Indoor Environments by Means of 3{D} Perception},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'04)},
  year = {2004},
  address = {New Orleans, USA},
}

@PhdThesis{arrasPHD03,
  author = {Kai O. Arras},
  title = {Feature-Based Robot Navigation in Known and Unknown Environments},
  school = {Swiss Federal Institute of Technology Lausanne (EPFL), Th\`{e}se No. 2765},
  year = {2003},
  month = {June},
}

@InCollection{arrasSTAR03,
  author = {Kai O. Arras and Nicola Tomatis and Roland Siegwart},
  editor = {B. Siciliano and P. Dario},
  title = {Robox, a Remarkable Mobile Robot for the Real World},
  booktitle = {Experimental Robotics VIII},
  series = {Springer Advanced Robotics Series (STAR)},
  publisher = {Springer},
  year = {2003},
}

@Periodical{baerfeldtRAS03,
  editor = {Albert-Jan Baerfeldt and Kai O. Arras and Christian Balkenius},
  title = {Special issue with the best papers of Eurobot'01, Robotics and Autonomous Systems},
  year = {2003},
  volume = {44},
  number = {1},
}

@Article{arrasRAS03,
  author = {Kai O. Arras and Jos\'{e} A. Castellanos and Martin Schilt and Roland Siegwart},
  title = {Feature-Based Multi-Hypothesis Localization and Tracking Using Geometric Constraints},
  journal = {Robotics and Autonomous Systems},
  volume = {44},
  number = {1},
  year = {2003},
}

@Article{siegwartRAS03,
  author = {Roland Siegwart and Kai O. Arras and Samir Bouabdallah and Daniel Burnier and Gilles Froidevaux and Xavier Greppin and Bj\"{o}rn Jensen and Antoine Lorotte and Laetitia Mayor and Mathieu Meisser and Roland Philippsen and Ralph Piguet and Guy Ramel and Gregoire Terrien and Nicola Tomatis},
  title = {Robox at {E}xpo.02: A Large-Scale Installation of Personal Robots},
  journal = {Robotics and Autonomous Systems},
  volume = {42},
  number = {3-4},
  pages = {203-222},
  month = {March},
  year = {2003},
}

@InProceedings{cerquiPISTA03,
  author = {Daniela Cerqui and Kai O. Arras},
  title = {Human Beings and Robots: Towards a Symbiosis? A 00-People Survey},
  booktitle = {Proc. International Conference on Socio Political Informatics and Cybernetics (PISTA'03)},
  address = {Orlando, USA},
  year = {2003},
}

@InProceedings{martinelliISRR03,
  author = {Agostino Martinelli and Adriana Tapus and Kai O. Arras and Roland Siegwart},
  title = {Representations and Maps for Real World Navigation},
  booktitle = {Proc. 11th International Symposium of Robotics Research (ISRR'03)},
  address = {Siena, Italy},
  year = {2003},
}

@InProceedings{arrasICRA03,
  author = {Kai O. Arras and Roland Philippsen and Nicola Tomatis and Marc de Battista and Martin Schilt and Roland Siegwart},
  title = {A Navigation Framework for Multiple Mobile Robots and its Application at the {E}xpo.02 Exhibition},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'03)},
  address = {Taipei, Taiwan}, 
  year = {2003},
}

@InProceedings{tomatisICRA03,
  author = {Nicola Tomatis and Gregoire Terrien and Ralph Piguet and Daniel Burnier and Samir Bouabdallah and Kai O. Arras and Roland Siegwart},
  title = {Designing a Secure and Robust Mobile Interacting Robot for the Long Term},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'03)},
  address = {Taipei, Taiwan}, 
  year = {2003},
}

@InProceedings{siegwartASER03,
  author = {Roland Siegwart and Kai O. Arras and Bj\"{o}rn Jensen and Roland Philippsen and Nicola Tomatis},
  title = {Design, Implementation and Exploitation of a New Fully Autonomous Tour Guide Robot},
  booktitle = {Proc. 1st International Workshop on Advances in Service Robotics (ASER'03)},
  address = {Bardolino, Italy},
  year = {2003},
}

@Proceedings{arrasIROSWS02,
  editor = {Kai O. Arras and Wolfram Burgard},
  title = {Robots in Exhibitions, IROS'02 Workshop Proceedings},
  address = {Lausanne, Switzerland},
  month = {October},
  year = {2002},
}

@InProceedings{arrasISER02,
  author = {Kai O. Arras and Nicola Tomatis and Roland Siegwart},
  title = {Robox, a Remarkable Mobile Robot for the Real World},
  booktitle = {Proc. 8th Int. Symposium on Experimental Robotics (ISER'02)},
  address = {Sant'Angelo d'Ischia, Italy},
  year = {2002},
}

@InProceedings{arrasICRA02a,
  author = {Kai O. Arras and Jos\'{e} A. Castellanos and Roland Siegwart},
  title = {Feature-Based Multi-Hypothesis Localization and Tracking for Mobile Robots Using Geometric Constraints},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'02)},
  address = {Washington DC, USA},
  year = {2002},
}

@InProceedings{arrasICRA02b,
  author = {Kai O. Arras and Jan Persson and Nicola Tomatis and Roland Siegwart},
  title = {Real-Time Obstacle Avoidance For Polygonal Robots With A Reduced Dynamic Window},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'02)},
  address = {Washington DC, USA},
  year = {2002},
}

@InProceedings{tomatisISR02,
  author = {Nicola Tomatis and Roland Philippsen and Bj\"{o}rn Jensen and Kai O. Arras and Gregoire Terrien and Ralph Piguet and Roland Siegwart},
  title = {Building a Fully Autonomous Tour Guide Robot: Where Academic Research Meets Industry},
  booktitle = {Proc. 33rd International Symposium on Robotics (ISR'02)},
  address = {Stockholm, Sweden},
  year = {2002},
}

@Proceedings{arrasEUROBOTProc01,
  editor = {Kai O. Arras and Christian Balkenius and Albert-Jan Baerfeldt and Wolfram Burgard and Roland Siegwart},
  title = {Proceedings of the 4th European Workshop on Advanced Mobile Robots (Eurobot'01)},
  address = {Lund, Sweden},
  month = {September},
  year = {2001},
}

@Article{arrasRAS01,
  author = {Kai O. Arras and Nicola Tomatis and Bj\"{o}rn Jensen and Roland Siegwart},
  title = {Multisensor On-the-Fly Localization: Precision and Reliability for Applications},
  journal = {Robotics and Autonomous Systems},
  volume = {34},
  number = {2-3},
  pages = {131-143},
  month = {February},
  year = {2001},
}

@InProceedings{arrasEUROBOT01,
  author = {Kai O. Arras and Jos\'{e} A. Castellanos and Martin Schilt and Roland Siegwart},
  title = {Towards Feature-Based Multi-Hypothesis Localization and Tracking},
  booktitle = {Proc. 4th European Workshop on Advanced Mobile Robots (Eurobot'01)},
  address = {Lund, Sweden},
  year = {2001},
}

@InProceedings{caprariAMIRE01,
  author = {Gilles Caprari and Kai O. Arras and Roland Siegwart},
  title = {Robot Navigation in Centimeter Range Labyrinths},
  booktitle = {Proc. 5th International Heinz Nixdorf Symposium, Autonomous Minirobots for Research and Edutainment (AMiRE'01)},
  address = {Paderborn, Germany},
  year = {2001},
}

@InProceedings{tomatisAIM01,
  author = {Nicola Tomatis and Roberto Brega and Kai O. Arras and Bj\"{o}rn Jensen and Benoit Moreau and Jan Persson and Roland Siegwart},
  title = {A Complex Mechatronic System: from Design to Application},
  booktitle = {Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM'01)},
  address = {Como, Italy},
  year = {2001},
}

@InProceedings{tomatisICRA01,
  author = {Nicola Tomatis and Illah Nourbakhsh and Kai O. Arras and Roland Siegwart},
  title = {A Hybrid Approach for Robust and Precise Mobile Robot Navigation with Compact Environment Modeling},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'01)},
  address = {Seoul, Korea}, 
  year = {2001},
}

@InProceedings{arrasIROS00,
  author = {Kai O. Arras and Nicola Tomatis and Roland Siegwart},
  title = {Multisensor On-the-Fly Localization Using Laser and Vision},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'00)},
  address = {Takamatsu, Japan},
  year = {2000},
}

@InProceedings{bregaIROS00,
  author = {Roberto Brega and Nicola Tomatis and Kai O. Arras},
  title = {The Need for Autonomy and Real-Time in Mobile Robotics: A Case Study of {XO}/2 and {P}ygmalion},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'00)},
  address = {Takamatsu, Japan},
  year = {2000},
}

@InProceedings{caprariIROS00,
  author = {Gilles Caprari and Kai O. Arras and Roland Siegwart},
  title = {The Autonomous Miniature Robot {A}lice: From Prototypes to Applications},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'00)},
  address = {Takamatsu, Japan},
  year = {2000},
}

@InProceedings{moreauSPIE00,
  author = {Benoit Moreau and Nicola Tomatis and Kai O. Arras},
  title = {Multimodal Web Interface for Task Supervision and Specification},
  booktitle = {Proc. of SPIE, vol. 4195, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII},
  address = {Boston, USA},
  year = {2000},
}

@InProceedings{arrasEUROBOT99,
  author = {Kai O. Arras and Nicola Tomatis},
  title = {Improving Robustness and Precision in Mobile Robot Localization by Using Laser Range Finding and Monocular Vision},
  booktitle = {Proc. 3rd European Workshop on Advanced Mobile Robots (Eurobot'99)},
  address = {Z\"{u}rich, Switzerland},
  year = {1999},
}

@InProceedings{WullschlegerEUROBOT99,
  author = {Felix H. Wullschleger and Kai O. Arras and Sjur J. Vestli},
  title = {A Flexible Exploration Framework for Map Building},
  booktitle = {Proc. 3rd European Workshop on Advanced Mobile Robots (Eurobot'99)},
  address = {Z\"{u}rich, Switzerland},
  year = {1999},
}

@InProceedings{arrasAMS99,
  author = {Kai O. Arras and Nicola Tomatis},
  title = {Sensordatenfusion zur Robusten und Pr\"{a}zisen {EKF} {L}okalisierung von {M}obilen {R}obotern},
  booktitle = {Autonome Mobile Systeme (AMS'99)},
  address = {M\"{u}nchen, Germany},
  year = {1999},
}

@TechReport{arrasTR98,
  author = {Kai O. Arras},
  title = {An Introduction to Error Propagation: Derivation, Meaning and Examples of {C}y = {F}x {C}x {F}x'},
  type = {Technical Report},
  number = {EPFL-ASL-TR-98-01 R3},  
  institution = {Autonomous Systems Lab, Swiss Federal Institute of Technology Lausanne},
  month = {September},
  year = {1998},
}

@InProceedings{arrasICRA98,
  author = {Kai O. Arras and Sjur J. Vestli},
  title = {Hybrid, high-precision localisation for the mail distributing mobile robot system {MOPS}},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA'98)},
  address = {Leuven, Belgium}, 
  year = {1998},
}

@InProceedings{arrasSPIE97,
  author = {Kai O. Arras and Roland Siegwart},
  title = {Feature Extraction and Scene Interpretation for Map-Based Navigation and Map Building},
  booktitle = {Proc. of SPIE, vol. 3210, Mobile Robotics XII, p. 42-53},
  address = {Pittsburgh, USA},
  year = {1997},
}

@InProceedings{arrasAMS96,
  author = {Kai O. Arras and Sjur J. Vestli and Nadine Tschichold-G\"{u}rman},
  title = {Echtzeitf\"{a}hige {M}erkmalsextraktion und {S}ituationsinterpretation aus {L}aserscannerdaten},
  booktitle = {Autonome Mobile Systeme (AMS'96)},
  address = {M\"{u}nchen, Germany},
  year = {1996},
}