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Much of the current research in human-robot interaction is concerned with single systems and single or few users. These systems and their interfaces are generally tightly-coupled and well-defined. For large-scale humanrobot applications, the systems may be unknown prior to designing the interface for potential human interaction. This presents a difficult goal for allowing multiple users to interact with many possibly unknown systems. In this paper, we present an interaction infrastructuredoi:10.1109/robot.2003.1241833 dblp:conf/icra/TewsMS03 fatcat:go65xdgqmjeo3dabobfv57nhgi