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Natural and friendly interface is critical for the development of service robots. Gesture-based interface offers a way to enable untrained users to interact with robots more easily and efficiently. Robots are, or soon will be, used in such critical domains as search and rescue, military battle, mine and bomb detection, scientific exploration, law enforcement, and hospital care. Such robots must coordinate their behaviors with the requirements and expectations of human team members; they are more than mere tools but rather quasi-team members whose tasks have to be integrated with those of humans.
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