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Multi-Modal Anchoring for Human-Robot-Interaction, , , , , and . Robotics and Autonomous Systems, Special issue on Anchoring Symbols to Sensor Data in Single and Multiple Robot Systems, 43 (2--3): 133--147 (2003)Multi-Modal Human-Machine Communication for Instructing Robot Grasping Tasks, , , , , , and . Intelligent Robots and Systems, (2002)BIRON -- The Bielefeld Robot Companion, , , , , , , , , and . Proc. Int. Workshop on Advances in Service Robotics, page 27--32. Stuttgart, Germany, Fraunhofer IRB Verlag, (May 2004)Audiovisual Person Tracking with a Mobile Robot, , , , and . Proc. Int. Conf. on Intelligent Autonomous Systems, page 898--906. Amsterdam, IOS Press, (March 2004)Person Tracking with a Mobile Robot based on Multi-Modal Anchoring, , , , , and . Proc. IEEE Int. Workshop on Robot and Human Interactive Communication (ROMAN), page 423--429. Berlin, Germany, IEEE, (September 2002)