A system architecture for intelligent building guide robot PHOPE. - SeungSub Oh; Young-Ho Choi; SungYong Yun; Bong-Jin Jun; Cheongjae Lee; Hyukjoon Jang; Jaiyoun Song; Jeong-Gwan Kang; Won-Seok Choi 001; Su-Yong An (ICARA, 2009)