Alessandra Cherubini Giuseppe Oriolo Francesco Macrì Alessandra Aloise Alessandra Babiloni Febo Cincotti Donatella Mattia Development of a multimode navigation system for an assistive robotics project. 2336-2342 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.363668 db/conf/icra/icra2007.html#CherubiniOMABCM07