@inbook{stueckler-lncs12, title = {Towards Robust Mobility, Flexible Object Manipulation, and Intuitive Multimodal Interaction for Domestic Service Robots}, author = {Stueckler, J. and Droeschel, D. and Gr{\"a}ve, K. and Holz, D. and Kl{\"a}{\ss}, J. and Schreiber, M. and Steffens, R. and Behnke, S.}, booktitle = {RoboCup 2011, Robot Soccer World Cup XV}, pages = {51-62}, publisher = {Springer}, year = {2012}, doi = {10.1007/978-3-642-32060-6_5}, url = {http://ais.uni-bonn.de/nimbro/@Home/papers/RC11_Home_Winner.pdf} }