A multilayer reactive system for robots interacting with children with   autism
  There is a lack of autonomy on traditional Robot-Assisted Therapy systems interacting with children with autism. To overcome this limitation a supervised autonomous robot controller is being built. In this paper we present a multilayer reactive system within such controller. The goal of this Reactive system is to allow the robot to appropriately react to the child's behavior creating the illusion of being alive. 
Pablo G\'omez Esteban, Hoang-Long Cao, Albert De Beir, Greet Van de   Perre, Dirk Lefeber and Bram Vanderborght
cs.RO cs.HC