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@INPROCEEDINGS{dondrup2014probabilistic,
  author = {Dondrup, Christian and Bellotto, Nicola and Hanheide, Marc},
  title = {A Probabilistic Model of Human-Robot Spatial Interaction using a
	Qualitative Trajectory Calculus},
  booktitle = {2014 AAAI Spring Symposium Series},
  year = {2014},
  abstract = {In this paper we propose a probabilistic model for Human-Robot Spatial
	Interaction (HRSI) using a Qualitative Trajectory Calculus (QTC).
	In particular, we will build on previous work representing HRSI as
	a Markov chain of QTC states and evolve this to an approach using
	a Hidden Markov Model representation. Our model accounts for the
	invalidity of certain transitions within the QTC to reduce the complexity
	of the probabilistic model and to ensure state sequences in accordance
	to this representational framework. We show the appropriateness of
	our approach by using the probabilistic model to encode different
	HRSI behaviours observed in a human-robot interaction study and show
	how the models can be used to classify these behaviours reliably.}
}