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"Spatial language for human-robot dialogs."
Marjorie Skubic et al. (2004)
- Marjorie Skubic, Dennis Perzanowski, Samuel Blisard, Alan C. Schultz, William Adams, Magdalena D. Bugajska, Derek P. Brock:

Spatial language for human-robot dialogs. IEEE Trans. Syst. Man Cybern. Part C 34(2): 154-167 (2004)

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