@article {bastianelli2017ijrr,
	title = {Structured learning for spoken language understanding in human-robot interaction},
	journal = {The International Journal of Robotics Research. SAGE Publications Inc.},
	volume = {36},
	year = {2017},
	pages = {660-683},
	issn = {0278-3649},
	doi = {10.1177/0278364917691112},
	author = {Bastianelli, Emanuele and Castellucci, Giuseppe and Croce, Danilo and Basili, Roberto and Nardi, Daniele}
}
