Melvin Isken Thomas Frenken Melina Brell Andreas Hein Robot interaction with domestic environments considering AAL services and smart home technologies. 810-821 2011 Intelligent Environments (Workshops) http://dx.doi.org/10.3233/978-1-60750-795-6-810 conf/intenv/2011w db/conf/intenv/intenv2011w.html#IskenFBH11