Sebastian Thrun Maren Bennewitz Wolfram Burgard Armin B. Cremers Frank Dellaert Dieter Fox Dirk Hähnel Charles R. Rosenberg Nicholas Roy Jamieson Schulte Dirk Schulz MINERVA: A Second-Generation Museum Tour-Guide Robot. 1999-2005 1999 conf/icra/1999 ICRA db/conf/icra/icra1999-3.html#ThrunBBCDFHRRSS99 http://dx.doi.org/10.1109/ROBOT.1999.770401