@Article{holzer2010alps,
  author  =  {Bohren, J. and Rusu, R. B. and Jones, E. G. and Marder-Eppstein, E. and Pantofaru, C. and Wise, M. and Mösenlechner, L. and Meeussen, W. and Holzer, S.},
  title   =  {Towards Autonomous Robotic Butlers: Lessons Learned with the PR2},
  booktitle =  {2011 IEEE International Conference on Robotics and Automation},
  year    =  {2011}
}