@PhDThesis{beinhofer14phd,
  author = {Beinhofer, M.},
  title = {Landmark Placement for Mobile Robot Navigation},
  school = {University of Freiburg, Department of Computer Science},
  month = {September},
  year = {2014},
  url = {http://www.freidok.uni-freiburg.de/volltexte/9649/pdf/dissertation_beinhofer.pdf}
}