@inproceedings{6181545, title = {Risk and gain battery management for self-docking mobile robots}, author = {Berenz, V. and Suzuki, K.}, booktitle = {Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on}, pages = {1766-1771}, year = {2011}, doi = {10.1109/ROBIO.2011.6181545} }