@Article{breuer_2011_jirs,
  author    = {Thomas Breuer and
               Geovanny R. Giorgana Macedo and
               Ronny Hartanto and
               Nico Hochgeschwender and
               Dirk Holz and
               Frederik Hegger and
               Zha Jin and
               Christian M{\"u}ller and
               Jan Paulus and
               Michael Reckhaus and
               Jos{\'e} Antonio {\'A}lvarez Ruiz and
               Paul-Gerhard Pl{\"o}ger and
               Gerhard K. Kraetzschmar},
  title     = {Johnny: An Autonomous Service Robot for Domestic Environments},
  journal   = {Journal of Intelligent and Robotic Systems, Special Issue on Domestic Service Robots},
  volume    = {66},
  number    = {1-2},
  year      = {2012},
  pages     = {245-272},
}