William G. Kennedy Magdalena D. Bugajska Matthew Marge William Adams Benjamin R. Fransen Dennis Perzanowski Alan C. Schultz J. Gregory Trafton Spatial Representation and Reasoning for Human-Robot Collaboration. 1554-1559 2007 conf/aaai/2007 AAAI db/conf/aaai/aaai2007.html#KennedyBMAFPST07