@inproceedings {PUBA69,
	title = {Deformable Trees {\textendash} Exploiting Local Obstacle Avoidance},
	author = {Matthias Behnisch AND Michael Gienger AND Robert Haschke AND Helge Ritter},
	year = {2011},
	publisher = {IEEE},
	note = {Bled, Slovenia},
	booktitle = {11th IEEE-RAS International Conference on Humanoid Robots}
}