L A M S S

   @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}}