HERB's Sure Thing: A rapid drama system for rehearsing and performing live robot theater. - Garth Zeglin; Aaron Walsman; Laura Herlant; Zhaodong Zheng; Yuyang Guo; Michael C. Koval; Kevin A. Lenzo; Hui Jun Tay; Prasanna Velagapudi; Katie Correll; Siddhartha S. Srinivasa (ARSO, 2014)