Merge pull request #13 from iluetkeb/master

Merged, thanks a lot!
Added a few lines to section 2.5 to address the reviewers remarks and changed use-case to use case to maintain consistency
Merge pull request #14 from iluetkeb/master

Double the prior work references and shorten the software section.
A lot of polishing + fit into 12 pages

To fit into 12 pages, the 'specific limitations' paragraphs have been
all removed. They are instead summarized in section 3.
consistent references
Change in references:

Added a reference and update an other one.
On the way I corrected 2 typos and added a precision in my part
Merge pull request #16 from Greg8978/master
Fix the typo fix
reverse author order
Merge branch 'master' of github.com:morse-simulator/publication-iros2014-hri
little edits
rewrote intro for case study 1, putting our terms in
edited case study 2. also put terms in