@Article{Joseph11AURO,
  author = 	 "J. Joseph and F. Doshi-Velez and A. Huang and N. Roy",
  title = 	 "A Bayesian Nonparametric Approach to Modeling Motion Patterns",
  journal =	 "Autonomous Robots",
  year =	 "2011",
  volume =	 "31",
  number =	 "4",
  month =	 "Nov.",
  pages =        "383-400"
}