Richard Kelley Alireza Tavakkoli Christopher King Monica N. Nicolescu Mircea Nicolescu George Bebis Understanding human intentions via hidden markov models in autonomous mobile robots. 367-374 2008 HRI http://doi.acm.org/10.1145/1349822.1349870 conf/hri/2008 db/conf/hri/hri2008.html#KelleyTKNNB08