@incollection{Prenzel12,
author = {Oliver Prenzel and Uwe Lange and Henning Kampe and Christian Martens and Axel Gräser},
title = {Programming of Intelligent Service Robots with the Process Model “FRIEND::Process” and Configurable Task-Knowledge},
booktitle = {Robotic Systems},
publisher = {IntechOpen},
address = {Rijeka},
year = {2012},
editor = {Ashish Dutta},
chapter = {25},
doi = {10.5772/27722},
url = {https://doi.org/10.5772/27722}
}