@book{Berns09a,
  author = {Karsten Berns and Ewald von Puttkamer},
  title = {Autonomous Land Vehicles: Steps towards Service Robots},
  publisher = {Vieweg+Teubner},
  year = {2009},
  address = {Wiesbaden, Germany},
  edition = {1},
  note = {\url{http://link.springer.com/978-3-8348-9334-5}},
  annote = {{ISBN} 978-3-8348-0421-1},
}