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@INPROCEEDINGS{dondrup2014socialdistance,
  author = {Dondrup, Christian and Bellotto, Nicola and Hanheide, Marc},
  title = {Social Distance-Augmented Qualitative Trajectory Calculus for Human-Robot
	Spatial Interaction},
  booktitle = {IEEE International Symposium on Robot and Human Interactive Communication},
  pages={519--524},
  year={2014},
  organization={IEEE},
  abstract = {In this paper we propose to augment a well-established Qualitative
	Trajectory Calculus (QTC) by incorporating social distances into
	the model to facilitate a richer and more powerful representation
	of Human-Robot Spatial Interaction (HRSI). By combining two variants
	of QTC that implement different resolutions and switching between
	them based on distance thresholds we show that we are able to both
	reduce the complexity of the representation and at the same time
	enrich QTC with one of the core HRSI concepts: proxemics. Building
	on this novel integrated QTC model, we propose to represent the joint
	spatial behaviour of a human and a robot employing a probabilistic
	representation based on Hidden Markov Models. We show the appropriateness
	of our approach by encoding different HRSI behaviours observed in
	a human-robot interaction study and show how the models can be used
	to represent and classify these behaviours using social distance-augmented
	QTC.}
}