@ARTICLE{Dondrup2015,
  author = {C. Dondrup and N. Bellotto and M. Hanheide and K. Eder and U. Leonards},
  title = {A Computational Model of Human-Robot Spatial Interactions Based on
	a Qualitative Trajectory Calculus},
  journal = {Robotics},
  year = {2015},
  volume = {4},
  pages = {63-102},
  number = {1}
}