How Can a Robot Attract the Attention of Its Human Partner? A Comparative Study over Different Modalities for Attracting Attention. - Elena Torta; Jim van Heumen; Raymond H. Cuijpers; James F. Juola (ICSR, 2012)

Evaluation of Unimodal and Multimodal Communication Cues for Attracting Attention in Human-Robot Interaction. - Elena Torta; Jim van Heumen; Francesco Piunti; Luca Romeo; Raymond H. Cuijpers (Int. J. Soc. Robotics, 2015)