@article{marvininnovativeomnidirectionalrobotic,
  title = {Marvin: an Innovative Omni-Directional Robotic Assistant for Domestic Environments},
  author = {Andrea Eirale and Mauro Martini and Luigi Tagliavini and Dario Gandini and Marcello Chiaberge and Giuseppe Quaglia},
  year = {2021},
  eprint = {2112.05597},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2112.05597v3},
}