@Proceedings{arrasICRAWS09,
  editor =	{Kai O. Arras and \'{O}scar Mart\'{i}nez Mozos},
  title =	{People Detection and Tracking, ICRA'09 Workshop Proceedings},
  address =	{Kobe, Japan},
  month =	{May},
  year =	{2009},
}

@Article{luberAURO08,
  author =	{Matthias Luber and Kai O. Arras and Christian Plagemann and Wolfram Burgard},
  title =	{Classifying Dynamic Objects: An Unsupervised Learning Approach},
  journal =	{Autonomous Robots},
  year =	{2009},
  volume =	{26},
  number =	{2-3},
  pages =	{141--151},
}

@PhdThesis{tipaldiPHD09,
  author =	{Gian Diego Tipaldi},
  title =	{Looking Inside for Mapping the Outside: Introspective Simultaneous Localization and Mapping},
  school =	{University of Rome La Sapienza, PhD Thesis},
  year =	{2009},
  note =	{in press},
}

@InProceedings{lauICRA09,
  author =	{Boris Lau and Kai O. Arras and Wolfram Burgard},
  title =	{Tracking Groups of People with a Multi-Model Hypothesis Tracker},
  booktitle =	{Proc. IEEE International Conference on Robotics and Automation (ICRA'09)},
  year =	{2009},
  address =	{Kobe, Japan},
}

@InProceedings{luberRSS08,
  author =	{Matthias Luber and Kai O. Arras and Christian Plagemann and Wolfram Burgard},
  title =	{Classifying Dynamic Objects: An Unsupervised Learning Approach},
  booktitle =	{Robotics: Science and Systems (RSS'08)},
  year =	{2008},
  address =	{Zurich, Switzerland},
}

@InProceedings{arrasICRA08,
  author =	{Kai O. Arras and Slawomir Grzonka and Matthias Luber and Wolfram Burgard},
  title =	{Efficient People Tracking in Laser Range Data using a Multi-Hypothesis Leg-Tracker with Adaptive Occlusion Probabilities},
  booktitle =	{Proc. IEEE International Conference on Robotics and Automation (ICRA'08)},
  year =	{2008},
  address =	{Pasadena, USA},
}

@InProceedings{censiICRA08,
  author =	{Andrea Censi and Gian Diego Tipaldi},
  title = 	{Lazy Localization using the Frozen Time Smoother},
  booktitle =	{Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA}'08)},
  pages =	{3167--3172},
  year =	{2008},
  month =	{May},
  address =	{Pasadena, CA},
}

@InProceedings{muellerCOGSYS08,
  author =	{J\"{o}rg M\"{u}ller and Cyrill Stachniss and Kai O. Arras and Wolfram Burgard},
  title =	{Socially Inspired Motion Planning for Mobile Robots in Populated Environments},
  booktitle =	{International Conference on Cognitive Systems (CogSys'08)},
  year =	{2008},
  address =	{Karlsruhe, Germany},
}

@InProceedings{iocchiSSRR07,
  author =	{L. Iocchi and S. Pellegrini and G. D. Tipaldi},
  title =	{Building multi-level planar maps integrating {LRF}, stereo vision and {IMU} sensors},
  booktitle =	{Proc. of {IEEE} International Workshop on Safety, Security and Rescue Robotics ({SSRR}'07)},
  year =	{2007},
  address =	{Rome, Italy},
}

@Article{grisettiRAS07,
  author =	{G. Grisetti and G.D. Tipaldi and C. Stachniss and W. Burgard and D. Nardi},
  title =	{Fast and Accurate {SLAM} with Rao-Blackwellized Particle Filters},
  journal =	{Robotics and Autonomous Systems, Special Issue on Simultaneous Localization and Map Building},
  year =	{2007},
  volume =	{55},
  number =	{1},
  pages =	{30--38},
}

@InProceedings{tipaldiIROS07,
  author =	{Gian Diego Tipaldi and Giorgio Grisetti and Wolfram Burgard},
  title =	{Approximated Covariance Estimation in Graphical Approaches to SLAM},
  booktitle =	{Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07)},
  address =	{San Diego, USA},
  year =	{2007},
}

@InProceedings{tipaldiICRA07,
  author =	{Gian Diego Tipaldi and Alessandro Farinelli and Luca Iocchi and Daniele Nardi},
  title =	{Heterogeneous Feature State Estimation with Rao-Blackwellized Particle Filters},
  booktitle =	{Proc. {IEEE} International Conference on Robotics and Automation (ICRA'07)},
  year =	{2007},
  address =	{Rome, Italy},
}

@InProceedings{grisettiICRA06,
  author =	{G. Grisetti and G. D. Tipaldi and C. Stachniss and W. Burgard and D. Nardi},
  title =	{Speeding Up {R}ao {B}lackwellized {SLAM}},
  booktitle =	{Proc. {IEEE} International Conference on Robotics and Automation (ICRA'06)},
  year =	{2006},
  address =	{Orlando, USA},
}

@InProceedings{arrasICRA07,
  author =	{Kai O. Arras and \'{O}scar Mart\'{i}nez Mozos and Wolfram Burgard},
  title =	{Using Boosted Features for the Detection of People in 2D Range Data},
  booktitle =	{Proc. IEEE International Conference on Robotics and Automation (ICRA'07)},
  year =	{2007},
  address =	{Rome, Italy},
}

@TechReport{arrasTR05,
  author =	{Kai O. Arras and Daniela Cerqui},
  title =	{Do we want to share our lives and bodies with robots? A 2000-people survey},
  type =	{Technical Report},
  number =	{EPFL-ASL-TR-0605-001},  
  institution = {Autonomous Systems Lab, Swiss Federal Institute of Technology Lausanne},
  month =	{June},
  year =	{2005},
}

@Manual{arrasManual04,
  author =	{Kai O. Arras},
  title =	{The CAS Robot Navigation Toolbox: Users Guide and Reference},
  type =	{Manual},
  organization = {Center for Autonomous Systems, KTH},
  month =	{September},
  year =	{2004},
}

@InProceedings{wulfICRA04,
  author =	{Oliver Wulf and Kai O. Arras and Henrik I. Christensen and Bernardo Wagner},
  title =	{2{D} Mapping of Cluttered Indoor Environments by Means of 3{D} Perception},
  booktitle =	{Proc. IEEE International Conference on Robotics and Automation (ICRA'04)},
  year =	{2004},
  address =	{New Orleans, USA},
}

@PhdThesis{arrasPHD03,
  author =	{Kai O. Arras},
  title =	{Feature-Based Robot Navigation in Known and Unknown Environments},
  school =	{Swiss Federal Institute of Technology Lausanne (EPFL), Th\`{e}se No. 2765},
  year =	{2003},
  month =	{June},
}

@InCollection{arrasSTAR03,
  author =	{Kai O. Arras and Nicola Tomatis and Roland Siegwart},
  editor = 	{B. Siciliano and P. Dario},
  title =	{Robox, a Remarkable Mobile Robot for the Real World},
  booktitle =	{Experimental Robotics VIII},
  series =	{Springer Advanced Robotics Series (STAR)},
  publisher =	{Springer},
  year =	{2003},
}

@Periodical{baerfeldtRAS03,
  editor =	{Albert-Jan Baerfeldt and Kai O. Arras and Christian Balkenius},
  title =	{Special issue with the best papers of Eurobot'01, Robotics and Autonomous Systems},
  year =	{2003},
  volume =	{44},
  number =	{1},
}

@Article{arrasRAS03,
  author =	{Kai O. Arras and Jos\'{e} A. Castellanos and Martin Schilt and Roland Siegwart},
  title =	{Feature-Based Multi-Hypothesis Localization and Tracking Using Geometric Constraints},
  journal =	{Robotics and Autonomous Systems},
  volume =	{44},
  number =	{1},
  year =	{2003},
}

@Article{siegwartRAS03,
  author =	{Roland Siegwart and Kai O. Arras and Samir Bouabdallah and Daniel Burnier and Gilles Froidevaux and Xavier Greppin and Bj\"{o}rn Jensen and Antoine Lorotte and Laetitia Mayor and Mathieu Meisser and Roland Philippsen and Ralph Piguet and Guy Ramel and Gregoire Terrien and Nicola Tomatis},
  title =	{Robox at {E}xpo.02: A Large-Scale Installation of Personal Robots},
  journal =	{Robotics and Autonomous Systems},
  volume =	{42},
  number =	{3-4},
  pages =	{203-222},
  month =	{March},
  year =	{2003},
}

@InProceedings{cerquiPISTA03,
  author =	{Daniela Cerqui and Kai O. Arras},
  title =	{Human Beings and Robots: Towards a Symbiosis? A 00-People Survey},
  booktitle =	{Proc. International Conference on Socio Political Informatics and Cybernetics (PISTA'03)},
  address =	{Orlando, USA},
  year =	{2003},
}

@InProceedings{martinelliISRR03,
  author =	{Agostino Martinelli and Adriana Tapus and Kai O. Arras and Roland Siegwart},
  title =	{Representations and Maps for Real World Navigation},
  booktitle =	{Proc. 11th International Symposium of Robotics Research (ISRR'03)},
  address =	{Siena, Italy},
  year =	{2003},
}

@InProceedings{arrasICRA03,
  author =	{Kai O. Arras and Roland Philippsen and Nicola Tomatis and Marc de Battista and Martin Schilt and Roland Siegwart},
  title =	{A Navigation Framework for Multiple Mobile Robots and its Application at the {E}xpo.02 Exhibition},
  booktitle =	{Proc. IEEE International Conference on Robotics and Automation (ICRA'03)},
  address =	{Taipei, Taiwan}, 
  year =	{2003},
}

@InProceedings{tomatisICRA03,
  author =	{Nicola Tomatis and Gregoire Terrien and Ralph Piguet and Daniel Burnier and Samir Bouabdallah and Kai O. Arras and Roland Siegwart},
  title =	{Designing a Secure and Robust Mobile Interacting Robot for the Long Term},
  booktitle =	{Proc. IEEE International Conference on Robotics and Automation (ICRA'03)},
  address =	{Taipei, Taiwan}, 
  year =	{2003},
}

@InProceedings{siegwartASER03,
  author =	{Roland Siegwart and Kai O. Arras and Bj\"{o}rn Jensen and Roland Philippsen and Nicola Tomatis},
  title =	{Design, Implementation and Exploitation of a New Fully Autonomous Tour Guide Robot},
  booktitle =	{Proc. 1st International Workshop on Advances in Service Robotics (ASER'03)},
  address =	{Bardolino, Italy},
  year =	{2003},
}

@Proceedings{arrasIROSWS02,
  editor =	{Kai O. Arras and Wolfram Burgard},
  title =	{Robots in Exhibitions, IROS'02 Workshop Proceedings},
  address =	{Lausanne, Switzerland},
  month =	{October},
  year =	{2002},
}

@InProceedings{arrasISER02,
  author =	{Kai O. Arras and Nicola Tomatis and Roland Siegwart},
  title =	{Robox, a Remarkable Mobile Robot for the Real World},
  booktitle =	{Proc. 8th Int. Symposium on Experimental Robotics (ISER'02)},
  address =	{Sant'Angelo d'Ischia, Italy},
  year =	{2002},
}

@InProceedings{arrasICRA02a,
  author =	{Kai O. Arras and Jos\'{e} A. Castellanos and Roland Siegwart},
  title =	{Feature-Based Multi-Hypothesis Localization and Tracking for Mobile Robots Using Geometric Constraints},
  booktitle =	{Proc. IEEE International Conference on Robotics and Automation (ICRA'02)},
  address =	{Washington DC, USA},
  year =	{2002},
}

@InProceedings{arrasICRA02b,
  author =	{Kai O. Arras and Jan Persson and Nicola Tomatis and Roland Siegwart},
  title =	{Real-Time Obstacle Avoidance For Polygonal Robots With A Reduced Dynamic Window},
  booktitle =	{Proc. IEEE International Conference on Robotics and Automation (ICRA'02)},
  address =	{Washington DC, USA},
  year =	{2002},
}

@InProceedings{tomatisISR02,
  author =	{Nicola Tomatis and Roland Philippsen and Bj\"{o}rn Jensen and Kai O. Arras and Gregoire Terrien and Ralph Piguet and Roland Siegwart},
  title =	{Building a Fully Autonomous Tour Guide Robot: Where Academic Research Meets Industry},
  booktitle =	{Proc. 33rd International Symposium on Robotics (ISR'02)},
  address =	{Stockholm, Sweden},
  year =	{2002},
}

@Proceedings{arrasEUROBOTProc01,
  editor =	{Kai O. Arras and Christian Balkenius and Albert-Jan Baerfeldt and Wolfram Burgard and Roland Siegwart},
  title =	{Proceedings of the 4th European Workshop on Advanced Mobile Robots (Eurobot'01)},
  address =	{Lund, Sweden},
  month =	{September},
  year =	{2001},
}

@Article{arrasRAS01,
  author =	{Kai O. Arras and Nicola Tomatis and Bj\"{o}rn Jensen and Roland Siegwart},
  title =	{Multisensor On-the-Fly Localization: Precision and Reliability for Applications},
  journal =	{Robotics and Autonomous Systems},
  volume =	{34},
  number =	{2-3},
  pages =	{131-143},
  month =	{February},
  year =	{2001},
}

@InProceedings{arrasEUROBOT01,
  author =	{Kai O. Arras and Jos\'{e} A. Castellanos and Martin Schilt and Roland Siegwart},
  title =	{Towards Feature-Based Multi-Hypothesis Localization and Tracking},
  booktitle =	{Proc. 4th European Workshop on Advanced Mobile Robots (Eurobot'01)},
  address =	{Lund, Sweden},
  year =	{2001},
}

@InProceedings{caprariAMIRE01,
  author =	{Gilles Caprari and Kai O. Arras and Roland Siegwart},
  title =	{Robot Navigation in Centimeter Range Labyrinths},
  booktitle =	{Proc. 5th International Heinz Nixdorf Symposium, Autonomous Minirobots for Research and Edutainment (AMiRE'01)},
  address =	{Paderborn, Germany},
  year =	{2001},
}

@InProceedings{tomatisAIM01,
  author =	{Nicola Tomatis and Roberto Brega and Kai O. Arras and Bj\"{o}rn Jensen and Benoit Moreau and Jan Persson and Roland Siegwart},
  title =	{A Complex Mechatronic System: from Design to Application},
  booktitle =	{Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM'01)},
  address =	{Como, Italy},
  year =	{2001},
}

@InProceedings{tomatisICRA01,
  author =	{Nicola Tomatis and Illah Nourbakhsh and Kai O. Arras and Roland Siegwart},
  title =	{A Hybrid Approach for Robust and Precise Mobile Robot Navigation with Compact Environment Modeling},
  booktitle =	{Proc. IEEE International Conference on Robotics and Automation (ICRA'01)},
  address =	{Seoul, Korea}, 
  year =	{2001},
}

@InProceedings{arrasIROS00,
  author =	{Kai O. Arras and Nicola Tomatis and Roland Siegwart},
  title =	{Multisensor On-the-Fly Localization Using Laser and Vision},
  booktitle =	{Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'00)},
  address =	{Takamatsu, Japan},
  year =	{2000},
}

@InProceedings{bregaIROS00,
  author =	{Roberto Brega and Nicola Tomatis and Kai O. Arras},
  title =	{The Need for Autonomy and Real-Time in Mobile Robotics: A Case Study of {XO}/2 and {P}ygmalion},
  booktitle =	{Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'00)},
  address =	{Takamatsu, Japan},
  year =	{2000},
}

@InProceedings{caprariIROS00,
  author =	{Gilles Caprari and Kai O. Arras and Roland Siegwart},
  title =	{The Autonomous Miniature Robot {A}lice: From Prototypes to Applications},
  booktitle =	{Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'00)},
  address =	{Takamatsu, Japan},
  year =	{2000},
}

@InProceedings{moreauSPIE00,
  author =	{Benoit Moreau and Nicola Tomatis and Kai O. Arras},
  title =	{Multimodal Web Interface for Task Supervision and Specification},
  booktitle =	{Proc. of SPIE, vol. 4195, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII},
  address =	{Boston, USA},
  year =	{2000},
}

@InProceedings{arrasEUROBOT99,
  author =	{Kai O. Arras and Nicola Tomatis},
  title =	{Improving Robustness and Precision in Mobile Robot Localization by Using Laser Range Finding and Monocular Vision},
  booktitle =	{Proc. 3rd European Workshop on Advanced Mobile Robots (Eurobot'99)},
  address =	{Z\"{u}rich, Switzerland},
  year =	{1999},
}

@InProceedings{WullschlegerEUROBOT99,
  author =	{Felix H. Wullschleger and Kai O. Arras and Sjur J. Vestli},
  title =	{A Flexible Exploration Framework for Map Building},
  booktitle =	{Proc. 3rd European Workshop on Advanced Mobile Robots (Eurobot'99)},
  address =	{Z\"{u}rich, Switzerland},
  year =	{1999},
}

@InProceedings{arrasAMS99,
  author =	{Kai O. Arras and Nicola Tomatis},
  title =	{Sensordatenfusion zur Robusten und Pr\"{a}zisen {EKF} {L}okalisierung von {M}obilen {R}obotern},
  booktitle =	{Autonome Mobile Systeme (AMS'99)},
  address =	{M\"{u}nchen, Germany},
  year =	{1999},
}

@TechReport{arrasTR98,
  author =	{Kai O. Arras},
  title =	{An Introduction to Error Propagation: Derivation, Meaning and Examples of {C}y = {F}x {C}x {F}x'},
  type =	{Technical Report},
  number =	{EPFL-ASL-TR-98-01 R3},  
  institution = {Autonomous Systems Lab, Swiss Federal Institute of Technology Lausanne},
  month =	{September},
  year =	{1998},
}

@InProceedings{arrasICRA98,
  author =	{Kai O. Arras and Sjur J. Vestli},
  title =	{Hybrid, high-precision localisation for the mail distributing mobile robot system {MOPS}},
  booktitle =	{Proc. IEEE International Conference on Robotics and Automation (ICRA'98)},
  address =	{Leuven, Belgium}, 
  year =	{1998},
}

@InProceedings{arrasSPIE97,
  author =	{Kai O. Arras and Roland Siegwart},
  title =	{Feature Extraction and Scene Interpretation for Map-Based Navigation and Map Building},
  booktitle =	{Proc. of SPIE, vol. 3210, Mobile Robotics XII, p. 42-53},
  address =	{Pittsburgh, USA},
  year =	{1997},
}

@InProceedings{arrasAMS96,
  author =	{Kai O. Arras and Sjur J. Vestli and Nadine Tschichold-G\"{u}rman},
  title =	{Echtzeitf\"{a}hige {M}erkmalsextraktion und {S}ituationsinterpretation aus {L}aserscannerdaten},
  booktitle =	{Autonome Mobile Systeme (AMS'96)},
  address =	{M\"{u}nchen, Germany},
  year =	{1996},
}