@incollection{holz_2009_robocup,
  booktitle = {RoboCup 2009: Robot Soccer World Cup XIII},
  author = {Dirk Holz and Gerhard K. Kraetzschmar and Erich Rome},
  title = {{R}obust and {C}omputationally {E}fficient {N}avigation in {D}omestic {E}nvironments},
  year = {2009},
  pages = {104--115},
  editor = {Baltes, J. and Lagoudakis, M.G. and Naruse, T. and Shiry, S.},
  publisher = {Springer},
  address = {Germany},
  series = {Lecture Notes in Computer Science},
  volume = {5949/2010},
  isbn = {978-3-642-11875-3},
}