@inproceedings{ijcai2009p268,
  title     = {Situated Resolution and Generation of Spatial Referring Expressions for Robotic Assistants},
  author    = {Zender, Hendrik and Kruijff, Geert-Jan M. and Kruijff-Korbayová, Ivana},
  booktitle = {Proceedings of the Twenty-First International Joint Conference on
               Artificial Intelligence, {IJCAI-09}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Hiroaki Kitano},
  pages     = {1604--1608},
  year      = {2009},
  url       = {https://ijcai.org/proceedings/2009/268},
}