In the paper, they imagine an Amsterdam brothel in 2050.
They base it on Yub-Yum, which closed in 2008 but was once considered one of Amsterdam's most exclusive brothels.
The paper reads: "Yub-Yum is modern and gleaming with about 100 scantily clad blondes and brunettes parading around in exotic G-strings and lingerie .
"Entry costs $10,000 for an all inclusive service. The club offers a full range of sexual services from massages, lap dancing and intercourse in plush surroundings.
"The Yub-Yum is a unique bordello licensed by the city council, staffed not by humans but by androids."
Yeoman and Mars go on to describe how the futuristic brothel came about because of a spoke in human trafficking in the sex industry in the 2040s.
They also predict a growing problem with incurable Sexually Transmitted Infections (STIs), particularly HIV, which they say will mutate and become resistant to vaccines.
Th pair claim Yub-Yum will feature robots of all ethnicities, body shapes, ages, languages and sexual features. But the most popular, they say, is tall, blonde, Russian android 'Irina', who is a particular favourite of Middle Eastern businessmen.
It continues: "The tourists who use the services of Yub-Yum are guaranteed a wonderful and thrilling experience, as all the androids are programmed to perform every service and satisfy every desire.
"All androids are made of bacteria resistant fiber and are flushed for human fluids, therefore guaranteeing no Sexual Transmitted Diseases are transferred between consumers."
However, according to Yeoman and Mars, while the club will help 'the sex industry alleviate all health and human trafficking problems', human sex workers will be put out of business, unable to compete on price and quality of service.
"Robots, Men and Sex Tourism" appeared in an issue of Futures , an academic journal.