@article{ahierarchicalarchitectureforhumanrobot,
  title = {A Hierarchical Architecture for Human-Robot Cooperation Processes},
  author = {Kourosh Darvish and Enrico Simetti and Fulvio Mastrogiovanni and Giuseppe Casalino},
  year = {2020},
  eprint = {2009.02807},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2009.02807v1},
}