@Article{Doshi08ConnSci,
  author = 	 {F. Doshi and N. Roy},
  title = 	 {Spoken Language Interaction with Model Uncertainty: An Adaptive Human-Robot Interaction System},
  journal = 	 {Connection Science},
  year = 	 {2008},
  volume =	 {20},
  number =	 {4},
  pages =	 {299-319},
}