Ben Tribelhorn Zachary Dodds Evaluating the Roomba: A low-cost, ubiquitous platform for robotics research and education. 1393-1399 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.363179 db/conf/icra/icra2007.html#TribelhornD07