The following publications are possibly variants of this publication:
- MINERVA: A Second-Generation Museum Tour-Guide RobotSebastian Thrun, Maren Bennewitz, Wolfram Burgard, Armin B. Cremers, Frank Dellaert, Dieter Fox, Dirk Hähnel, Charles R. Rosenberg, Nicholas Roy, Jamieson Schulte, Dirk Schulz. icra 1999: 1999-2005
- The Interactive Museum Tour-Guide RobotWolfram Burgard, Armin B. Cremers, Dieter Fox, Dirk Hähnel, Gerhard Lakemeyer, Dirk Schulz, Walter Steiner, Sebastian Thrun. AAAI 1998: 11-18
- MINERVA: A Tour-Guide Robot that LearnsSebastian Thrun, Maren Bennewitz, Wolfram Burgard, Armin B. Cremers, Frank Dellaert, Dieter Fox, Dirk Hähnel, Charles R. Rosenberg, Nicholas Roy, Jamieson Schulte, Dirk Schulz. ki 1999: 14-26 [doi]
- Experiences with an Interactive Museum Tour-Guide RobotWolfram Burgard, Armin B. Cremers, Dieter Fox, Dirk Hähnel, Gerhard Lakemeyer, Dirk Schulz, Walter Steiner, Sebastian Thrun. ai, 114(1-2):3-55, 1999. [doi]
- The Museum Tour-Guide Robot RHINOWolfram Burgard, Armin B. Cremers, Dieter Fox, Dirk Hähnel, Gerhard Lakemeyer, Dirk Schulz, Walter Steiner, Sebastian Thrun. ams 1999: 245-254