@INPROCEEDINGS{Gross-IROS-2009,
  author = {Gross, Horst-Michael and Boehme, Hans-Joachim and Schroeter, {\relax
    Ch}ristof and Mueller, {\relax St}effen and Koenig, Alexander and
    Einhorn, Erik and Martin, {\relax Ch}ristian and Merten, Matthias
    and Bley, Andreas},
  title = {{TOOMAS}: Interactie Shopping Guide Robots in Everyday Use -- Final
    Implementation and Experiences from Long-Term Field Trials},
  booktitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
  year = {2009},
  pages = {2005--2012},
  publisher = {IEEE}
}