@inproceedings{dondrup2016qualitative,
  title={Qualitative constraints for human-aware robot navigation using velocity costmaps},
  author={Dondrup, Christian and Hanheide, Marc},
  booktitle={Robot and Human Interactive Communication (RO-MAN), 2016 25th IEEE International Symposium on},
  pages={586--592},
  year={2016},
  organization={IEEE}
}