@article {trulls2011jfr, author = {Trulls, E. and Corominas Murtra, A. and PĂ©rez-Ibarz, J. and Ferrer, G. and Vasquez, D. and Mirats-Tur, Josep M. and Sanfeliu, A.}, title = {Autonomous navigation for mobile service robots in urban pedestrian environments}, journal = {Journal of Field Robotics}, volume = {28}, number = {3}, publisher = {Wiley Subscription Services, Inc., A Wiley Company}, issn = {1556-4967}, pages = {329--354}, year = {2011} }