Maren Bennewitz Wolfram Burgard Grzegorz Cielniak Sebastian Thrun Learning Motion Patterns of People for Compliant Robot Motion. 31-48 2005 24 I. J. Robotic Res. 1 http://ijr.sagepub.com/cgi/content/abstract/24/1/31 db/journals/ijrr/ijrr24.html#BennewitzBCT05