@article{cappo2018online, title={Online planning for human--multi-robot interactive theatrical performance}, author={Cappo, Ellen A and Desai, Arjav and Collins, Matthew and Michael, Nathan}, journal={Autonomous Robots}, volume={42}, number={8}, pages={1771--1786}, year={2018}, doi={https://doi.org/10.1007/s10514-018-9755-0}, publisher={Springer} }