Takayuki Tanaka, Junji Ohwi, Ludmila V. Litvintseva, Kazuo Yamafuji, Sergei V. Ulyanov. Soft computing algorithms for intelligent control of a mobile robot for service use: Part 1: Direct human-robot communications and managing system for cooperative control. Soft Comput., 1(2):88-98, 1997. [doi]
Abstract is missing.