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@inproceedings{woerner17legibility, title = {Legibility and Predictability of Protocol-Constrained Motion: Evaluating Human-Robot Ship Interactions Under {COLREGS} Collision Avoidance Requirements}, booktitle = {In Workshop on Mathematical Models, Algorithms, and Human-Robot Interaction at {RSS 2017}}, author = {Kyle L. Woerner and Michael Novitzky and Michael R. Benjamin and John J. Leonard}, address = {Cambridge, MA}, month = {July}, year = {2017}}