Michael Brenner Nick Hawes John D. Kelleher Jeremy Wyatt Mediating between Qualitative and Quantitative Representations for Task-Orientated Human-Robot Interaction. 2072-2077 2007 conf/ijcai/2007 IJCAI http://dli.iiit.ac.in/ijcai/IJCAI-2007/PDF/IJCAI07-334.pdf db/conf/ijcai/ijcai2007.html#BrennerHKW07