@ARTICLE{Prodanov2007LowLevelGrounding,
  author = {Prodanov, Plamen and Drygajlo, Andrzej and Richiardi, Jonas and Alexander,
	Anil},
  title = {Low-level grounding in a multimodal mobile service robot conversational
	system using graphical models},
  journal = {Intelligent Service Robotics},
  year = {2007},
  doi = {10.1007/s11370-006-0001-9}
}