Han, Isla XiParascho, Stefana2023-03-132023-03-132023-03-13202310.1007/978-3-031-20241-4_16https://infoscience.epfl.ch/handle/20.500.14299/196053Improv-Structure: Exploring Improvisation in Collective Human-Robot Constructiontext::conference output::conference proceedings::conference paper