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Koay KL, Sisbot EA, Syrdal DS, Walters ML, Dautenhahn K, R. A.  2007.  Exploratory Studies of a Robot Approaching a Person in the Context of Handing Over an Object. Proceedings of AAAI - Spring Symposium 2007: SS07, Multidisciplinary Collaboration for Socially Assistive Robotics , AAAI Technical Report. :18-24.
Dautenhahn K, Walters ML, Woods SN, Koay KL, Nehaniv CL, Sisbot EA, Alami R, Simeon T.  2006.  How may I serve you? A robot companion approaching a seated person in a helping context Proceedings of ACM SIGCHI/SIGART 2nd Conference on Human Robot Interaction (HRI ’06). :172-179.