@article{Arndt13a,
Author = {Michael Arndt and Sebastian Wille and Luiza de Souza and V{\'\i}tor Fortes Rey and Norbert Wehn and Karsten Berns},
Title = {Performance evaluation of ambient services by combining robotic frameworks and a smart environment platform },
Journal = {Robotics and Autonomous Systems },
Year = {2013},
Volume = {61},
Number = {11},
Pages = {1173 - 1185},
}