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@InBook{stueckler-lncs12,
  author = {J. Stueckler and D. Droeschel and K. Gräve and D. Holz and J. Kläß and M. Schreiber and R. Steffens and S. Behnke},
  title= {Towards Robust Mobility, Flexible Object Manipulation, and Intuitive Multimodal Interaction for Domestic Service Robots},
  chapter = {RoboCup 2011, Robot Soccer World Cup XV},
  publisher = {Springer},
  pages = {51-62},
  year = {2012},
  doi = {10.1007/978-3-642-32060-6_5},
  url = {http://ais.uni-bonn.de/nimbro/@Home/papers/RC11_Home_Winner.pdf},
}
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