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"RoboCup@Home: Results in Benchmarking Domestic Service Robots", RoboCup Symposium 2009, vol. 5949, Graz, Austria, pp. 390--401, 2009.
"Fuzzy Representations and Control for Domestic Service Robots in Golog", Domestic Service Robots in the Real World. Workshop Proceedings of the International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2010), Darmstadt, Germany, pp. 183–192, November 15-18, 2010.
"Reasoning with Qualitative Positional Information for Domestic Domains in the Situation Calculus", Journal of Intelligent and Robotic Systems. Special Issue on Domestic Service Robots in the Real World., vol. 63, no. 2: Springer, to appear, 2011.
"RoboCup@Home: Scientific Competition and Benchmarking for Domestic Service Robots", Interaction Studies, vol. 10, issue Special Issue: Robots in the Wild, no. 3: John Benjamin Publishing, pp. 392--426, 2009.