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Personal service robots require a comprehensive set of perception, control, and planning skills to perform everyday tasks autonomously. While achieving full autonomy is an ongoing research topic, first real-world applications of personal robots may come into reach, if state-of-the-art autonomous capabilities are combined with the intelligence of the users in a complementary way. We report on handheld user interfaces for personal robots that allow for teleoperating the robot on three levels ofdoi:10.1145/2559636.2563716 dblp:conf/hri/SchwarzSB14 fatcat:z5f6v2zybrbddidrn4b57fbxdq