TY - CONF AU - Rasch, Robin AU - Pörtner, Aljoscha AU - Hoffmann, Martin AU - König, Matthias ID - 1262 SN - 9781450345552 T2 - Proceedings of the 1st Workshop on Embodied Interaction with Smart Environments - EISE '16 TI - A decoupled three-layered architecture for service robotics in intelligent environments ER -