Collaborative Online Teleoperation with Spatial Dynamic Voting and a Human "Tele-Actor". - Kenneth Y. Goldberg; Dezhen Song; Yoek-Nam Khor; David Pescovitz; Anthony Levandowski; Jesse C. Himmelstein; Janice Shih; Annamarie Ho; Eric Paulos; Judith S. Donath (ICRA, 2002)