@ARTICLE{8613882,
  author={Hu, Zhe and Pan, Jia and Fan, Tingxiang and Yang, Ruigang and Manocha, Dinesh},
  journal={IEEE Robotics and Automation Letters}, 
  title={Safe Navigation With Human Instructions in Complex Scenes}, 
  year={2019},
  volume={4},
  number={2},
  pages={753-760},
  doi={10.1109/LRA.2019.2893432}}