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Jacobs, S., A. Ferrein, S. Schiffer, D. Beck, and G. Lakemeyer,  "Robust Collision Avoidance in Unknown Domestic Environments",  \i RoboCup 2009: Robot Soccer World Cup XIII\i0 , vol. 5949, Graz, Austria, Springer, pp. 116--127, 2009.\par \par }