Action graphs for proactive robot assistance in smart environments. Harman, H. & Simoens, P. Journal of Ambient Intelligence and Smart Environments, 12(2):79–99, SAGE Publications, March, 2020.
Action graphs for proactive robot assistance in smart environments [link]Paper  doi  bibtex   
@article{g885qq,
 author = {Harman, Helen and Simoens, Pieter},
 doi = {10.3233/ais-200556},
 issn = {1876-1364},
 journal = {Journal of Ambient Intelligence and Smart Environments},
 link = {https://doi.org/10.3233/AIS-200556},
 month = {March},
 number = {2},
 pages = {79–99},
 publisher = {SAGE Publications},
 title = {Action graphs for proactive robot assistance in smart environments},
 url = {http://dx.doi.org/10.3233/AIS-200556},
 volume = {12},
 year = {2020}
}

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