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 Meysam Basiri, Joao Pereira, Rui Bettencourt, Enrico Piazza, E. Fernandes, Carlos Azevedo, Pedro Lima, "Functionalities, Benchmarking System and Performance Evaluation for a Domestic Service Robot: People Perception, People Following, and Pick and Placing", Applied Sciences 2022, 12(10), 4819, 2022
 Enrico Piazza, Pedro Lima, M. Matteucci, "Performance Models in Robotics with a Use Case on SLAM", IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 4646-4653, April, 2022
 Pedro Lima, Carlos Azevedo, Emilia Brzozowska, João Cartucho, Tiago Dias, Joao Goncalves, Mithun Kinarullathil, Guilherme Lawless, Oscar Lima, Rute Luz, Pedro Miraldo, Enrico Piazza, Miguel Silva, Tiago Veiga, Rodrigo Ventura, "SocRob@Home: Integrating AI Components in a Domestic Robot System", KI - Künstliche Intelligenz (2019), 2019
 Meysam Basiri, Enrico Piazza, M. Matteucci, Pedro Lima, "Benchmarking Functionalities of Domestic Service Robots Through Scientific Competitions", KI - Künstliche Intelligenz (2019), 2019
 Enrico Piazza, "Methodologies for Benchmarking of Robot Tasks and Systems", Ph.D. Thesis, within the IST-Politecnico di Milano Joint Doctoral Initiative, May, 2023