Amy LaViers Lin Bai Masoud Bashiri Gerald Heddy Yu Sheng Abstractions for Design-by-Humans of Heterogeneous Behaviors. 237-262 2014 Dance Notations and Robot Motion https://doi.org/10.1007/978-3-319-25739-6_11 conf/amf/2014 db/conf/amf/dance2014.html#LaViersBBHS14