@article{playful, title = {Playful: Reactive Programming for Orchestrating Robotic Behavior }, author = {Berenz, Vincent and Schaal, Stefan}, journal = {IEEE Robotics Automation Magazine}, volume = {25}, number = {3}, pages = {49-60}, month = sep, year = {2018}, doi = {10.1109/MRA.2018.2803168}, url = {https://ieeexplore.ieee.org/document/8357389}, month_numeric = {9} }