author = 	 "S. Thrun and M. Beetz and M. Bennewitz and W. Burgard and
		  A.B. Cremers and F. Dellaert and D. Fox and D. Haehnel and
		  C. Rosenberg and N. Roy and J. Schulte and D. Schulz",
  title = 	 "Probabilistic Algorithms and the Interactive Museum
		  Tour-Guide Robot Minerva",
  journal =	 "International Journal of Robotics Research",
  year =	 "2000",
  volume =	 "19",
  number =	 "11",
  month =	 "November",
  pages =        "972-999",