@inproceedings {hess12iros,
	author = {Hess, J{\"u}rgen and Tipaldi, Gian Diego and Burgard, Wolfram},
	title = {{Null Space Optimization for Effective Coverage of 3D Surfaces using Redundant Manipulators}},
	booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2012},
	address = {Villamoura, Protugal},
	url = {http://www.informatik.uni-freiburg.de/~tipaldi/papers/hess12iros.pdf}
}