@Article{Pineau03RAS, author = {Joelle Pineau and Michael Montemerlo and Martha Pollack and Nicholas Roy and Sebastian Thrun}, title = {Towards robotic assistants in nursing homes: Challenges and results}, journal = {Robotics and Autonomous Systems}, year = {2003}, volume = {42}, number = {3-4}, pages = {271-281}, month = {March}, }