@inproceedings{CASE-2007-Frenger,
	author        = "Paul Frenger",
	booktitle     = "{Proceedings of the Third International Conference on Automation Science and Engineering}",
	doi           = "10.1109/COASE.2007.4341775",
	isbn          = "978-1-4244-1154-2",
	pages         = "857--862",
	publisher     = "{IEEE}",
	title         = "{GRANNIE 2: A Ubiquitous, Protean Robotic Guardian Angel}",
	year          = 2007,
}