EUROPA2

@article{kummerle14jfr,
  author         = {K{\"u}mmerle, Rainer and Ruhnke, Michael and
                   Steder, Bastian and Stachniss, Cyrill and Burgard,
                   Wolfram},
  title          = {Autonomous Robot Navigation in Highly Populated
                   Pedestrian Zones},
  journal        = "Journal of Field Robotics",
  year           = 2014,
  doi            = {10.1002/rob.21534},
  url            = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle14jfr.pdf},
}