@book{Berns09a,
Author = {Karsten Berns and Ewald von Puttkamer},
Title = {Autonomous Land Vehicles: Steps towards Service Robots},
Publisher = {Vieweg+Teubner},
Year = {2009},
Address = {Wiesbaden, Germany},
Edition = {1},
Note = {\url{http://link.springer.com/978-3-8348-9334-5}},
Annote = {{ISBN} 978-3-8348-0421-1},
}