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Klotz, D., J. Wienke, J. Peltason, B. Wrede, S. Wrede, V. Khalidov, and J-M. Odobez, "Engagement-based Multi-party Dialog with a Humanoid Robot", Proceedings of the SIGDIAL 2011 Conference, Portland, Oregon, Association for Computational Linguistics, pp. 341–343, June, 2011.