Dylan F. Glas Takayuki Kanda Hiroshi Ishiguro Norihiro Hagita Field trial for simultaneous teleoperation of mobile social robots. 149-156 2009 HRI http://doi.acm.org/10.1145/1514095.1514123 conf/hri/2009 db/conf/hri/hri2009.html#GlasKIH09