@article{DBLP:journals/air/BerenzTS12, title = {Autonomous battery management for mobile robots based on risk and gain assessment}, author = {Berenz, Vincent and Tanaka, Fumihide and Suzuki, Kenji}, journal = {Artif. Intell. Rev.}, volume = {37}, number = {3}, pages = {217--237}, year = {2012}, doi = {10.1007/s10462-011-9227-9}, url = {http://dx.doi.org/10.1007/s10462-011-9227-9} }