@phdthesis{Hirth12b,
  author = {Jochen Hirth},
  title = {Towards Socially Interactive Robots -- Designing an Emotion-based Control Architecture},
  school = {Department of Computer Science, University of Kaiserslautern},
  year = {2012},
  month = {April 16},
  note = {\url{http://www.dr.hut-verlag.de/978-3-8439-0631-9.html}},
}