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*2009
92EEJonathan Ko, Dieter Fox: GP-BayesFilters: Bayesian filtering using Gaussian process prediction and observation models. Auton. Robots 27(1): 75-90 (2009)
2008
91 Dieter Fox, Carla P. Gomes: Proceedings of the Twenty-Third AAAI Conference on Artificial Intelligence, AAAI 2008, Chicago, Illinois, USA, July 13-17, 2008 AAAI Press 2008
90EEJonathan Ko, Dieter Fox: GP-BayesFilters: Bayesian filtering using Gaussian process prediction and observation models. IROS 2008: 3471-3476
89EEFabio T. Ramos, Mohammed Waleed Kadous, Dieter Fox: Learning to Associate Image Features with CRF-Matching. ISER 2008: 505-514
88EERégis Vincent, Dieter Fox, Jonathan Ko, Kurt Konolige, Benson Limketkai, Benoit Morisset, Charles Ortiz, Dirk Schulz, Benjamin Stewart: Distributed multirobot exploration, mapping, and task allocation. Ann. Math. Artif. Intell. 52(2-4): 229-255 (2008)
2007
87 Gaurav S. Sukhatme, Stefan Schaal, Wolfram Burgard, Dieter Fox: Robotics: Science and Systems II, August 16-19, 2006. University of Pennsylvania, Philadelphia, Pennsylvania, USA The MIT Press 2007
86EEBenson Limketkai, Dieter Fox, Lin Liao: CRF-Filters: Discriminative Particle Filters for Sequential State Estimation. ICRA 2007: 3142-3147
85EEJonathan Ko, Daniel J. Klein, Dieter Fox, Dirk Hähnel: Gaussian Processes and Reinforcement Learning for Identification and Control of an Autonomous Blimp. ICRA 2007: 742-747
84EEStephen Friedman, Hanna Pasula, Dieter Fox: Voronoi Random Fields: Extracting Topological Structure of Indoor Environments via Place Labeling. IJCAI 2007: 2109-2114
83EEChristian Plagemann, Dieter Fox, Wolfram Burgard: Efficient Failure Detection on Mobile Robots Using Particle Filters with Gaussian Process Proposals. IJCAI 2007: 2185-2190
82EEBrian Ferris, Dieter Fox, Neil D. Lawrence: WiFi-SLAM Using Gaussian Process Latent Variable Models. IJCAI 2007: 2480-2485
81EELin Liao, Tanzeem Choudhury, Dieter Fox, Henry A. Kautz: Training Conditional Random Fields Using Virtual Evidence Boosting. IJCAI 2007: 2530-2535
80EEJonathan Ko, Daniel J. Klein, Dieter Fox, Dirk Hähnel: GP-UKF: Unscented kalman filters with Gaussian process prediction and observationmodels. IROS 2007: 1901-1907
79EEBertrand Douillard, Dieter Fox, Fabio T. Ramos: A spatio-temporal probabilistic model for multi-sensor object recognition. IROS 2007: 2402-2408
78EEDieter Fox: Location-Based Activity Recognition. KI 2007: 51
77EEFabio T. Ramos, Dieter Fox, Hugh F. Durrant-Whyte: CRF-Matching: Conditional Random Fields for Feature-Based Scan Matching. Robotics: Science and Systems 2007
76EELin Liao, Donald J. Patterson, Dieter Fox, Henry A. Kautz: Learning and inferring transportation routines. Artif. Intell. 171(5-6): 311-331 (2007)
75EELin Liao, Dieter Fox, Henry A. Kautz: Extracting Places and Activities from GPS Traces Using Hierarchical Conditional Random Fields. I. J. Robotic Res. 26(1): 119-134 (2007)
2006
74EEPatrick Pfaff, Wolfram Burgard, Dieter Fox: Robust Monte-Carlo Localization Using Adaptive Likelihood Models. EUROS 2006: 181-194
73EEAlvin Raj, Amarnag Subramanya, Dieter Fox, Jeff A. Bilmes: Rao-Blackwellized Particle Filters for Recognizing Activities and Spatial Context from Wearable Sensors. ISER 2006: 211-221
72EEBrian Ferris, Dirk Hähnel, Dieter Fox: Gaussian Processes for Signal Strength-Based Location Estimation. Robotics: Science and Systems 2006
71EEAmar Subramanya, Alvin Raj, Jeff A. Bilmes, Dieter Fox: Recognizing Activities and Spatial Context Using Wearable Sensors. UAI 2006
2005
70 Julie Letchner, Dieter Fox, Anthony LaMarca: Large-Scale Localization from Wireless Signal Strength. AAAI 2005: 15-20
69EEDieter Fox: Distributed Multi-Robot Exploration and Mapping. CRV 2005
68 Denis F. Wolf, Gaurav S. Sukhatme, Dieter Fox, Wolfram Burgard: Autonomous Terrain Mapping and Classification Using Hidden Markov Models. ICRA 2005: 2026-2031
67EEBenson Limketkai, Lin Liao, Dieter Fox: Relational Object Maps for Mobile Robots. IJCAI 2005: 1471-1476
66EELin Liao, Dieter Fox, Henry A. Kautz: Location-Based Activity Recognition using Relational Markov Networks. IJCAI 2005: 773-778
65EELin Liao, Dieter Fox, Henry A. Kautz: Hierarchical Conditional Random Fields for GPS-Based Activity Recognition. ISRR 2005: 487-506
64EEDonald J. Patterson, Dieter Fox, Henry A. Kautz, Matthai Philipose: Fine-Grained Activity Recognition by Aggregating Abstract Object Usage. ISWC 2005: 44-51
63EELin Liao, Dieter Fox, Henry A. Kautz: Location-based activity recognition. NIPS 2005
2004
62 Charlie Ortiz, Kurt Konolige, Régis Vincent, Benoit Morisset, Andrew Agno, Michael Eriksen, Dieter Fox, Benson Limketkai, Jonathan Ko, Benjamin Stewart, Dirk Schulz: Centibots: Very Large Scale Distributed Robotic Teams. AAAI 2004: 1022-1023
61 Lin Liao, Dieter Fox, Henry A. Kautz: Learning and Inferring Transportation Routines. AAAI 2004: 348-353
60EEDirk Hähnel, Wolfram Burgard, Dieter Fox, Kenneth P. Fishkin, Matthai Philipose: Mapping and Localization with RFID Technology. ICRA 2004: 1015-1020
59 Kurt Konolige, Charlie Ortiz, Régis Vincent, Benoit Morisset, Andrew Agno, Michael Eriksen, Dieter Fox, Benson Limketkai, Jonathan Ko, Benjamin Stewart, Dirk Schulz: Centibots: Very Large Scale Distributed Robotic Teams. IFIP Congress Topical Sessions 2004: 761
58EEKurt Konolige, Dieter Fox, Charlie Ortiz, Andrew Agno, Michael Eriksen, Benson Limketkai, Jonathan Ko, Benoit Morisset, Dirk Schulz, Benjamin Stewart, Régis Vincent: Centibots: Very Large Scale Distributed Robotic Teams. ISER 2004: 131-140
57EECody C. T. Kwok, Dieter Fox: Map-Based Multiple Model Tracking of a Moving Object. RobuCup 2004: 18-33
56EEDonald J. Patterson, Lin Liao, Krzysztof Gajos, Michael Collier, Nik Livic, Katherine Olson, Shiaokai Wang, Dieter Fox, Henry A. Kautz: Opportunity Knocks: A System to Provide Cognitive Assistance with Transportation Services. Ubicomp 2004: 433-450
2003
55 Cody C. T. Kwok, Dieter Fox, Marina Meila: Adaptive real-time particle filters for robot localization. ICRA 2003: 2836-2841
54 Dirk Schulz, Dieter Fox, Jeffrey Hightower: People Tracking with Anonymous and ID-Sensors Using Rao-Blackwellised Particle Filters. IJCAI 2003: 921-928
53EEDieter Fox, Jonathan Ko, Kurt Konolige, Benjamin Stewart: A Hierarchical Bayesian Approach to the Revisiting Problem in Mobile Robot Map Building. ISRR 2003: 60-69
52 Benjamin Stewart, Jonathan Ko, Dieter Fox, Kurt Konolige: The Revisiting Problem in Mobile Robot Map Building: A Hierarchical Bayesian Approach. UAI 2003: 551-558
51EEDonald J. Patterson, Lin Liao, Dieter Fox, Henry A. Kautz: Inferring High-Level Behavior from Low-Level Sensors. Ubicomp 2003: 73-89
50 Dieter Fox: Adapting the Sample Size in Particle Filters Through KLD-Sampling. I. J. Robotic Res. 22(12): 985-1004 (2003)
49 Dirk Schulz, Wolfram Burgard, Dieter Fox, Armin B. Cremers: People Tracking with Mobile Robots Using Sample-based Joint Probabilistic Data Association Filters. I. J. Robotic Res. 22(2): 99-116 (2003)
2002
48EECody C. T. Kwok, Dieter Fox, Marina Meila: Real-Time Particle Filters. NIPS 2002: 1057-1064
47EEAnthony LaMarca, Waylon Brunette, David Koizumi, Matthew Lease, Stefan B. Sigurdsson, Kevin Sikorski, Dieter Fox, Gaetano Borriello: Making Sensor Networks Practical with Robots. Pervasive 2002: 152-166
46EEAnthony LaMarca, Waylon Brunette, David Koizumi, Matthew Lease, Stefan B. Sigurdsson, Kevin Sikorski, Dieter Fox, Gaetano Borriello: PlantCare: An Investigation in Practical Ubiquitous Systems. Ubicomp 2002: 316-332
2001
45EEDirk Schulz, Wolfram Burgard, Dieter Fox, Armin B. Cremers: Tracking Multiple Moving Objects with a Mobile Robot. CVPR (1) 2001: 371-377
44 Dirk Schulz, Wolfram Burgard, Dieter Fox, Armin B. Cremers: Tracking Multiple Moving Targets with a Mobile Robot using Particle Filters and Statistical Data Association. ICRA 2001: 1665-1670
43EEDieter Fox: KLD-Sampling: Adaptive Particle Filters. NIPS 2001: 713-720
42EED. Azari, J. K. Burns, K. Deshmukh, Dieter Fox, D. Grimes, Cody C. T. Kwok, R. Pitkanen, A. P. Shon, P. Tressel: Team Description: UW Huskies-01. RoboCup 2001: 721-724
41EESebastian Thrun, Dieter Fox, Wolfram Burgard, Frank Dellaert: Robust Monte Carlo localization for mobile robots. Artif. Intell. 128(1-2): 99-141 (2001)
40EEMichael Beetz, Tom Arbuckle, Thorsten Belker, Armin B. Cremers, Dirk Schulz, Maren Bennewitz, Wolfram Burgard, Dirk Hähnel, Dieter Fox, Henrik Grosskreutz: Integrated Plan-Based Control of Autonomous Robots in Human Environments. IEEE Intelligent Systems 16(5): 56-65 (2001)
2000
39 Reid G. Simmons, David Apfelbaum, Wolfram Burgard, Dieter Fox, Mark Moors, Sebastian Thrun, Håkan L. S. Younes: Coordination for Multi-Robot Exploration and Mapping. AAAI/IAAI 2000: 852-858
38 Sebastian Thrun, Dieter Fox, Wolfram Burgard: Monte Carlo Localization with Mixture Proposal Distribution. AAAI/IAAI 2000: 859-865
37 Sebastian Thrun, Wolfram Burgard, Dieter Fox: A Real-Time Algorithm for Mobile Robot Mapping With Applications to Multi-Robot and 3D Mapping. ICRA 2000: 321-328
36 Wolfram Burgard, Mark Moors, Dieter Fox, Reid G. Simmons, Sebastian Thrun: Collaborative Multi-Robot Exploration. ICRA 2000: 476-481
35EEStefan Enderle, Marcus Ritter, Dieter Fox, Stefan Sablatnög, Gerhard K. Kraetzschmar, Günther Palm: Vision-Based Localization in RoboCup Environments. RoboCup 2000: 291-296
34 Dieter Fox, Wolfram Burgard, Hannes Kruppa, Sebastian Thrun: A Probabilistic Approach to Collaborative Multi-Robot Localization. Auton. Robots 8(3): 325-344 (2000)
33EESebastian Thrun, Michael Beetz, Maren Bennewitz, Wolfram Burgard, Armin B. Cremers, Frank Dellaert, Dieter Fox, Dirk Hähnel, Charles R. Rosenberg, Nicholas Roy, Jamieson Schulte, Dirk Schulz: Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva. I. J. Robotic Res. 19(11): 972-999 (2000)
32 Dieter Fox: Markov Lokalisierung: Ein probalistisches Verfahren zur Lokalisierung und Navigation mobiler Roboter. KI 14(1): 56-58 (2000)
31 Dieter Fox: Particle Filters and their Application to Mobile Robot Localization. KI 14(4): 40-41 (2000)
1999
30 Dieter Fox, Wolfram Burgard, Frank Dellaert, Sebastian Thrun: Monte Carlo Localization: Efficient Position Estimation for Mobile Robots. AAAI/IAAI 1999: 343-349
29EEFrank Dellaert, Wolfram Burgard, Dieter Fox, Sebastian Thrun: Using the Condensation Algorithm for Robust, Vision-based Mobile Robot Localization. CVPR 1999: 2588-
28 Dieter Fox, Wolfram Burgard, Hannes Kruppa, Sebastian Thrun: Collaborative Multi-Robot Localization. DAGM-Symposium 1999: 15-26
27 Sebastian Thrun, John Langford, Dieter Fox: Monte Carlo Hidden Markov Models: Learning Non-Parametric Models of Partially Observable Stochastic Processes. ICML 1999: 415-424
26 Wolfram Burgard, Dieter Fox, Hauke Jans, Christian Matenar, Sebastian Thrun: Sonar-Based Mapping of Large-Scale Mobile Robot Environments using EM. ICML 1999: 67-76
25 Frank Dellaert, Dieter Fox, Wolfram Burgard, Sebastian Thrun: Monte Carlo Localization for Mobile Robots. ICRA 1999: 1322-1328
24 Sebastian Thrun, Maren Bennewitz, Wolfram Burgard, Armin B. Cremers, Frank Dellaert, Dieter Fox, Dirk Hähnel, Charles R. Rosenberg, Nicholas Roy, Jamieson Schulte, Dirk Schulz: MINERVA: A Second-Generation Museum Tour-Guide Robot. ICRA 1999: 1999-2005
23 Nicholas Roy, Wolfram Burgard, Dieter Fox, Sebastian Thrun: Coastal Navigation: Mobile Robot Navigation with Uncertainty in Dynamic Environments. ICRA 1999: 35-40
22EESebastian Thrun, Maren Bennewitz, Wolfram Burgard, Armin B. Cremers, Frank Dellaert, Dieter Fox, Dirk Hähnel, Charles R. Rosenberg, Nicholas Roy, Jamieson Schulte, Dirk Schulz: MINERVA: A Tour-Guide Robot that Learns. KI 1999: 14-26
21EEDieter Fox, Wolfram Burgard, Hannes Kruppa, Sebastian Thrun: Collaborative Multi-robot Localization. KI 1999: 255-266
20EEWolfram Burgard, Armin B. Cremers, Dieter Fox, Dirk Hähnel, Gerhard Lakemeyer, Dirk Schulz, Walter Steiner, Sebastian Thrun: Experiences with an Interactive Museum Tour-Guide Robot. Artif. Intell. 114(1-2): 3-55 (1999)
19EEDieter Fox, Wolfram Burgard, Sebastian Thrun: Markov Localization for Mobile Robots in Dynamic Environments. J. Artif. Intell. Res. (JAIR) 11: 391-427 (1999)
1998
18 Wolfram Burgard, Armin B. Cremers, Dieter Fox, Dirk Hähnel, Gerhard Lakemeyer, Dirk Schulz, Walter Steiner, Sebastian Thrun: The Interactive Museum Tour-Guide Robot. AAAI/IAAI 1998: 11-18
17 Dieter Fox, Wolfram Burgard, Sebastian Thrun, Armin B. Cremers: Position Estimation for Mobile Robots in Dynamic Environments. AAAI/IAAI 1998: 983-988
16 Sebastian Thrun, Jens-Steffen Gutmann, Dieter Fox, Wolfram Burgard, Benjamin Kuipers: Integrating Topological and Metric Maps for Mobile Robot Navigation: A Statistical Approach. AAAI/IAAI 1998: 989-995
15 Wolfram Burgard, Armin B. Cremers, Dieter Fox, Dirk Hähnel, Gerhard Lakemeyer, Dirk Schulz, Walter Steiner, Sebastian Thrun: The Museum Tour-Guide Robot RHINO. AMS 1998: 245-254
14 Dieter Fox, Wolfram Burgard, Sebastian Thrun, Armin B. Cremers: A Hybrid Collision Avoidance Method for Mobile Robots. ICRA 1998: 1238-1243
13 Sebastian Thrun, Dieter Fox, Wolfram Burgard: Probabilistic Mapping of an Environment by a Mobile Robot. ICRA 1998: 1546-1551
12 Dieter Fox, Wolfram Burgard, Sebastian Thrun: Markov Localization for Reliable Robot Navigation and People Detection. Sensor Based Intelligent Robots 1998: 1-20
11 Sebastian Thrun, Wolfram Burgard, Dieter Fox: A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots. Auton. Robots 5(3-4): 253-271 (1998)
10 Wolfram Burgard, Armin B. Cremers, Dieter Fox, Dirk Hähnel, Angelica Maria Kappel, Stefan Lüttringhaus-Kappel: Verbesserte Brandfrüherkennung im Steinkohlenbergbau durch Vorhersage von CO-Konzentrationen. KI 12(1): 46-53 (1998)
9 Sebastian Thrun, Wolfram Burgard, Dieter Fox: A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots. Machine Learning 31(1-3): 29-53 (1998)
8EEMichael Beetz, Wolfram Burgard, Dieter Fox, Armin B. Cremers: Integrating active localization into high-level robot control systems. Robotics and Autonomous Systems 23(4): 205-220 (1998)
7EEDieter Fox, Wolfram Burgard, Sebastian Thrun: Active Markov localization for mobile robots. Robotics and Autonomous Systems 25(3-4): 195-207 (1998)
1997
6 Wolfram Burgard, Dieter Fox, Sebastian Thrun: Active Mobile Robot Localization. IJCAI 1997: 1346-1352
5 Wolfram Burgard, Dieter Fox, Daniel Hennig: Fast Grid-Based Position TRacking for Mobile Robots. KI 1997: 289-300
1996
4 Wolfram Burgard, Dieter Fox, Daniel Hennig, Timo Schmidt: Estimating the Absolute Position of a Mobile Robot Using Position Probability Grids. AAAI/IAAI, Vol. 2 1996: 896-901
3 Wolfram Burgard, Armin B. Cremers, Dieter Fox, Martin Heidelbach, Angelica Maria Kappel, Stefan Lüttringhaus-Kappel: Knowledge-Enhanced CO-monitoring in Coal-Mines. IEA/AIE 1996: 511-520
2 Wolfram Burgard, Armin B. Cremers, Dieter Fox, Angelica Maria Kappel, Stefan Lüttringhaus-Kappel: Logic Programming Tools Applied to Fire Detection in Hard-coal Mines (Poster Abstract). JICSLP 1996: 532
1995
1 Joachim M. Buhmann, Wolfram Burgard, Armin B. Cremers, Dieter Fox, Thomas Hofmann, Frank E. Schneider, Jiannis Strikos, Sebastian Thrun: The Mobile Robot RHINO. AI Magazine 16(2): 31-38 (1995)

Coauthor Index

1Andrew Agno [58] [59] [62]
2David Apfelbaum [39]
3Tom Arbuckle [40]
4D. Azari [42]
5Michael Beetz [8] [33] [40]
6Thorsten Belker [40]
7Maren Bennewitz [22] [24] [33] [40]
8Jeff A. Bilmes (Jeff Bilmes) [71] [73]
9Gaetano Borriello [46] [47]
10Waylon Brunette [46] [47]
11Joachim M. Buhmann [1]
12Wolfram Burgard [1] [2] [3] [4] [5] [6] [7] [8] [9] [10] [11] [12] [13] [14] [15] [16] [17] [18] [19] [20] [21] [22] [23] [24] [25] [26] [28] [29] [30] [33] [34] [36] [37] [38] [39] [40] [41] [44] [45] [49] [60] [68] [74] [83] [87]
13J. K. Burns [42]
14Tanzeem Choudhury [81]
15Michael Collier [56]
16Armin B. Cremers [1] [2] [3] [8] [10] [14] [15] [17] [18] [20] [22] [24] [33] [40] [44] [45] [49]
17Frank Dellaert [22] [24] [25] [29] [30] [33] [41]
18K. Deshmukh [42]
19Bertrand Douillard [79]
20Hugh F. Durrant-Whyte [77]
21Stefan Enderle [35]
22Michael Eriksen [58] [59] [62]
23Brian Ferris [72] [82]
24Kenneth P. Fishkin [60]
25Stephen Friedman [84]
26Krzysztof Z. Gajos (Krzysztof Gajos) [56]
27Carla P. Gomes [91]
28D. Grimes [42]
29Henrik Grosskreutz [40]
30Jens-Steffen Gutmann [16]
31Dirk Hähnel [10] [15] [18] [20] [22] [24] [33] [40] [60] [72] [80] [85]
32Martin Heidelbach [3]
33Daniel Hennig [4] [5]
34Jeffrey Hightower [54]
35Thomas Hofmann [1]
36Hauke Jans [26]
37Mohammed Waleed Kadous [89]
38Angelica Maria Kappel [2] [3] [10]
39Henry A. Kautz [51] [56] [61] [63] [64] [65] [66] [75] [76] [81]
40Daniel J. Klein [80] [85]
41Jonathan Ko [52] [53] [58] [59] [62] [80] [85] [88] [90] [92]
42David Koizumi [46] [47]
43Kurt Konolige [52] [53] [58] [59] [62] [88]
44Gerhard K. Kraetzschmar [35]
45Hannes Kruppa [21] [28] [34]
46Benjamin Kuipers [16]
47Cody C. T. Kwok [42] [48] [55] [57]
48Anthony LaMarca [46] [47] [70]
49Gerhard Lakemeyer [15] [18] [20]
50John Langford [27]
51Neil D. Lawrence [82]
52Matthew Lease [46] [47]
53Julie Letchner [70]
54Lin Liao [51] [56] [61] [63] [65] [66] [67] [75] [76] [81] [86]
55Benson Limketkai [58] [59] [62] [67] [86] [88]
56Nik Livic [56]
57Stefan Lüttringhaus-Kappel (Stefan Kappel) [2] [3] [10]
58Christian Matenar [26]
59Marina Meila [48] [55]
60Mark Moors [36] [39]
61Benoit Morisset [58] [59] [62] [88]
62Katherine Olson [56]
63Charles Ortiz [88]
64Charlie Ortiz [58] [59] [62]
65Günther Palm [35]
66Hanna M. Pasula (Hanna Pasula) [84]
67Donald J. Patterson [51] [56] [64] [76]
68Patrick Pfaff [74]
69Matthai Philipose [60] [64]
70R. Pitkanen [42]
71Christian Plagemann [83]
72Alvin Raj [71] [73]
73Fabio T. Ramos [77] [79] [89]
74Marcus Ritter [35]
75Charles R. Rosenberg [22] [24] [33]
76Nicholas Roy [22] [23] [24] [33]
77Stefan Sablatnög [35]
78Stefan Schaal [87]
79Timo Schmidt [4]
80Frank E. Schneider [1]
81Jamieson Schulte [22] [24] [33]
82Dirk Schulz [15] [18] [20] [22] [24] [33] [40] [44] [45] [49] [54] [58] [59] [62] [88]
83A. P. Shon [42]
84Stefan B. Sigurdsson [46] [47]
85Kevin Sikorski [46] [47]
86Reid G. Simmons [36] [39]
87Walter Steiner [15] [18] [20]
88Benjamin Stewart [52] [53] [58] [59] [62] [88]
89Jiannis Strikos [1]
90Amar Subramanya [71]
91Amarnag Subramanya [73]
92Gaurav S. Sukhatme (Gaurav Sukhatme) [68] [87]
93Sebastian Thrun [1] [6] [7] [9] [11] [12] [13] [14] [15] [16] [17] [18] [19] [20] [21] [22] [23] [24] [25] [26] [27] [28] [29] [30] [33] [34] [36] [37] [38] [39] [41]
94P. Tressel [42]
95Régis Vincent [58] [59] [62] [88]
96Shiaokai Wang [56]
97Denis F. Wolf [68]
98Håkan L. S. Younes [39]

Colors in the list of coauthors

Copyright © Tue Nov 3 08:52:44 2009 by Michael Ley (ley@uni-trier.de)