@article{scheutzetal04connectionscience, title={A Parallel, Distributed, Realtime, Robotic Model for Human Reference Resolution with Visual Constraints}, author={Matthias Scheutz and Kathleen Eberhard and Virgil Andronache}, year={2004}, journal={Connection Science}, volume={16}, pages={145--167} url={https://hrilab.tufts.edu/publications/scheutzetal04connectionscience.pdf} }