research-article

Your Way Or My Way: Improving Human-Robot Co-Navigation Through Robot Intent and Pedestrian Prediction Visualisations

Authors:

Marius Hoggenmüller,

Martin TomitschAuthors Info & Claims

HRI '23: Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction

Pages 211 - 221

https://doi.org/10.1145/3568162.3576992

Published: 13 March 2023 Publication History

Abstract

As mobile robots enter shared urban spaces, operating in close proximity to people, this raises new challenges in terms of how these robots communicate with passers-by. Following an iterative process involving expert focus groups (n=8), we designed an augmented reality concept that visualises the robot's navigation intent and the pedestrian's predicted path. To understand the impact of path visualisations on trust, sense of agency, user experience, and robot understandability, we conducted a virtual reality evaluation (n=20). We compared visualising both robot intent and pedestrian path prediction against just visualising robot intent and a baseline without augmentation. The presence of path visualisations resulted in a significant improvement of trust. Triangulation of quantitative and qualitative results further highlights the impact of pedestrian path prediction visualisation on robot understandability as it allows for exploratory interaction.

Supplementary Material

MP4 File (hrifp1178.mp4)

Supplemental video

Download
83.68 MB

MP4 File (Presentation.mp4)

Presentation video

Download
57.27 MB

References

[1]

Ashraf Abdul, Jo Vermeulen, Danding Wang, Brian Y. Lim, and Mohan Kankan- halli. 2018. Trends and Trajectories for Explainable, Accountable and Intel- ligible Systems: An HCI Research Agenda. In Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems (Montreal QC, Canada) (CHI '18). Association for Computing Machinery, New York, NY, USA, 1--18. https://doi.org/10.1145/3173574.3174156

Digital Library

[2]

Sule Anjomshoae, Amro Najjar, Davide Calvaresi, and Kary Främling. 2019. Explainable Agents and Robots : Results from a Systematic Literature Review. In AAMAS '19: Proceedings of the 18th International Conference on Autonomous Agents and MultiAgent Systems : (Proceedings). International Foundation for Autonomous Agents and MultiAgent Systems, 1078--1088. http://www.ifaamas. org/Proceedings/aamas2019/pdfs/p1078.pdf

[3]

Kim Baraka, Stephanie Rosenthal, and Manuela Veloso. 2016. Enhancing human understanding of a mobile robot's state and actions using expressive lights. In 2016 25th IEEE International Symposium on Robot and Human Interactive Commu- nication (RO-MAN). 652--657. https://doi.org/10.1109/ROMAN.2016.7745187

Digital Library

[4]

Christoph Bartneck, Takayuki Kanda, Omar Mubin, and Abdullah Al Mahmud. 2009. Does the design of a robot influence its animacy and perceived intelligence? International Journal of Social Robotics 1, 2 (2009), 195--204. https://doi.org/10. 1007/s12369-009-0013--7

[5]

Christoph Bartneck, Dana Kuli?, Elizabeth Croft, and Susana Zoghbi. 2009. Mea- surement instruments for the anthropomorphism, animacy, likeability, perceived intelligence, and perceived safety of robots. International journal of social robotics 1, 1 (2009), 71--81. https://doi.org/10.1007/s12369-008-0001--3

[6]

Suna Bensch, Aleksandar Jevtic, and Thomas Hellström. 2017. On interaction quality in human-robot interaction. In ICAART 2017 Proceedings of the 9th Interna- tional Conference on Agents and Artificial Intelligence, vol. 1. SciTePress, 182--189. https://doi.org/10.5220/0006191601820189

[7]

Susanne Boll, Marion Koelle, and Jessica Cauchard. 2019. Understanding the Socio- Technical Impact of Automated (Aerial) Vehicles on Casual Bystanders. In 1st International Workshop on Human-Drone Interaction. Ecole Nationale de l'Aviation Civile [ENAC], Glasgow, United Kingdom. https://hal.archives-ouvertes.fr/hal- 02128379

[8]

Virginia Braun and Victoria Clarke. 2006. Using thematic analysis in psychology. Qualitative Research in Psychology 3, 2 (2006), 77--101. https://doi.org/10.1191/1478088706qp063oa arXiv:https://www.tandfonline.com/doi/pdf/10.1191/1478088706qp063oa

[9]

Ravi Teja Chadalavada, Henrik Andreasson, Robert Krug, and Achim J. Lilienthal. 2015. That's on my mind! robot to human intention communication through on-board projection on shared floor space. In 2015 European Conference on Mobile Robots (ECMR). 1--6. https://doi.org/10.1109/ECMR.2015.7403771

[10]

Andre Cleaver, Darren Vincent Tang, Victoria Chen, Elaine Schaertl Short, and Jivko Sinapov. 2021. Dynamic Path Visualization for Human-Robot Collaboration. In Companion of the 2021 ACM/IEEE International Conference on Human-Robot In- teraction (Boulder, CO, USA) (HRI '21 Companion). Association for Computing Ma- chinery, New York, NY, USA, 339--343. https://doi.org/10.1145/3434074.3447188

Digital Library

[11]

Mark Colley, Christian Bräuner, Mirjam Lanzer, Marcel Walch, Martin Baumann, and Enrico Rukzio. 2020. Effect of Visualization of Pedestrian Intention Recogni- tion on Trust and Cognitive Load. In 12th International Conference on Automotive User Interfaces and Interactive Vehicular Applications (Virtual Event, DC, USA) (AutomotiveUI '20). Association for Computing Machinery, New York, NY, USA, 181--191. https://doi.org/10.1145/3409120.3410648

Digital Library

[12]

Mark Colley, Benjamin Eder, Jan Ole Rixen, and Enrico Rukzio. 2021. Effects of Semantic Segmentation Visualization on Trust, Situation Awareness, and Cognitive Load in Highly Automated Vehicles. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems (Yokohama, Japan) (CHI '21). Association for Computing Machinery, New York, NY, USA, Article 155, 11 pages. https://doi.org/10.1145/3411764.3445351

Digital Library

[13]

Mark Colley, Max Rädler, Jonas Glimmann, and Enrico Rukzio. 2022. Effects of Scene Detection, Scene Prediction, and Maneuver Planning Visualizations on Trust, Situation Awareness, and Cognitive Load in Highly Automated Vehicles. Proc. ACM Interact. Mob. Wearable Ubiquitous Technol. 6, 2, Article 49 (jul 2022), 21 pages. https://doi.org/10.1145/3534609

Digital Library

[14]

John W. Creswell. 2014. A concise introduction to mixed methods research. Sage, Thousand Oaks, California, USA.

[15]

Maartje M.A. de Graaf, Bertram F. Malle, Anca Dragan, and Tom Ziemke. 2018. Explainable Robotic Systems. In Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction (Chicago, IL, USA) (HRI '18). Association for Computing Machinery, New York, NY, USA, 387--388. https://doi.org/10. 1145/3173386.3173568

[16]

Anca D. Dragan, Shira Bauman, Jodi Forlizzi, and Siddhartha S. Srinivasa. 2015. Effects of Robot Motion on Human-Robot Collaboration. In Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction (Portland, Oregon, USA) (HRI '15). Association for Computing Machinery, New York, NY, USA, 51--58. https://doi.org/10.1145/2696454.2696473

Digital Library

[17]

Rolando Fernandez, Nathan John, Sean Kirmani, Justin Hart, Jivko Sinapov, and Peter Stone. 2018. Passive Demonstrations of Light-Based Robot Signals for Improved Human Interpretability. In 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). 234--239. https: //doi.org/10.1109/ROMAN.2018.8525728

Digital Library

[18]

Terrence Fong, Illah Nourbakhsh, and Kerstin Dautenhahn. 2002. A survey of socially interactive robots: Concepts, Design and Applications. (2002).

[19]

Shaun Gallagher. 2012. Multiple aspects in the sense of agency1. New Ideas in Psychology 30, 1 (2012), 15--31. https://doi.org/10.1016/j.newideapsych.2010.03. 003

[20]

Everette S. Gardner Jr. 1985. Exponential smoothing: The state of the art. Jour- nal of Forecasting 4, 1 (1985), 1--28. https://doi.org/10.1002/for.3980040103 arXiv:https://onlinelibrary.wiley.com/doi/pdf/10.1002/for.3980040103

[21]

Michael A. Gerber, Ronald Schroeter, and Julia Vehns. 2019. A Video-Based Automated Driving Simulator for Automotive UI Prototyping, UX and Behaviour Research. In Proceedings of the 11th International Conference on Automotive User Interfaces and Interactive Vehicular Applications (Utrecht, Netherlands) (Automo- tiveUI '19). Association for Computing Machinery, New York, NY, USA, 14--23. https://doi.org/10.1145/3342197.3344533

Digital Library

[22]

Ouriel Grynszpan, Aïsha Sahaï, Nasmeh Hamidi, Elisabeth Pacherie, Bruno Berbe- rian, Lucas Roche, and Ludovic Saint-Bauzel. 2019. The sense of agency in human-human vs human-robot joint action. Consciousness and Cognition 75 (2019), 102820. https://doi.org/10.1016/j.concog.2019.102820

[23]

Morris Gu, Akansel Cosgun, Wesley P Chan, Tom Drummond, and Elizabeth Croft. 2021. Seeing thru walls: Visualizing mobile robots in augmented reality. In 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN). IEEE, 406--411. https://doi.org/10.1109/RO-MAN50785.2021.9515322

Digital Library

[24]

S. Guznov, J. Lyons, M. Pfahler, A. Heironimus, M. Woolley, J. Friedman, and A. Neimeier. 2020. Robot Transparency and Team Orientation Effects on Human--Robot Teaming. International Journal of Human--Computer Inter- action 36, 7 (2020), 650--660. https://doi.org/10.1080/10447318.2019.1676519 arXiv:https://doi.org/10.1080/10447318.2019.1676519

[25]

Zhao Han, Jenna Parrillo, Alexander Wilkinson, Holly A. Yanco, and Tom Williams. 2022. Projecting Robot Navigation Paths: Hardware and Software for Projected AR. (2022), 623--628. https://doi.org/10.48550/arXiv.2112.05172

[26]

Thomas Hellström and Suna Bensch. 2018. Understandable robots - What, Why, and How. Paladyn, Journal of Behavioral Robotics 9, 1 (2018), 110--123. https: //doi.org/

[27]

Marius Hoggenmüller, Martin Tomitsch, Luke Hespanhol, Tram Thi Minh Tran, Stewart Worrall, and Eduardo Nebot. 2021. Context-Based Interface Prototyping: Understanding the Effect of Prototype Representation on User Feedback. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems (Yokohama, Japan) (CHI '21). Association for Computing Machinery, New York, NY, USA, Article 370, 14 pages. https://doi.org/10.1145/3411764.3445159

Digital Library

[28]

Daniel Holliday, Stephanie Wilson, and Simone Stumpf. 2016. User Trust in Intelligent Systems: A Journey Over Time. In Proceedings of the 21st Inter- national Conference on Intelligent User Interfaces (Sonoma, California, USA) (IUI '16). Association for Computing Machinery, New York, NY, USA, 164--168. https://doi.org/10.1145/2856767.2856811

Digital Library

[29]

Aike Horstmann and Nicole Krämer. 2022. The Fundamental Attribution Error in Human-Robot Interaction: An Experimental Investigation on Attributing Responsibility to a Social Robot for Its Pre-Programmed Behavior. International Journal of Social Robotics 14 (07 2022), 1--17. https://doi.org/10.1007/s12369-021- 00856--9

[30]

Jiun-Yin Jian, Ann M. Bisantz, and Colin G. Drury. 2000. Foundations for an Empirically Determined Scale of Trust in Automated Systems. International Journal of Cognitive Ergonomics 4, 1 (2000), 53--71. https://doi.org/10.1207/ S15327566IJCE0401_04

[31]

Shyam Sundar Kannan, Ahreum Lee, and Byung-Cheol Min. 2021. External human-machine interface on delivery robots: Expression of navigation intent of the robot. In 2021 30th IEEE International Conference on Robot & Human Interac- tive Communication (RO-MAN). IEEE, 1305--1312. https://doi.org/10.1109/RO- MAN50785.2021.9515408

Digital Library

[32]

Harmish Khambhaita and Rachid Alami. 2020. Viewing Robot Navigation in Human Environment as a Cooperative Activity. In Robotics Research, Nancy M. Amato, Greg Hager, Shawna Thomas, and Miguel Torres-Torriti (Eds.). Springer International Publishing, Cham, 285--300. https://doi.org/10.1007/978--3-030- 28619--4_25

[33]

Hyungil Kim, Jessica D Isleib, and Joseph L Gabbard. 2016. Virtual shadow: making cross traffic dynamics visible through augmented reality head up display. In Proceedings of the Human Factors and Ergonomics Society Annual Meeting, Vol. 60. SAGE Publications Sage CA: Los Angeles, CA, 2093--2097. https://doi. org/10.1177/1541931213601474

[34]

Julian Francisco Pieter Kooij, Nicolas Schneider, Fabian Flohr, and Dariu M Gavrila. 2014. Context-based pedestrian path prediction. In European Conference on Computer Vision. Springer, 618--633. https://doi.org/10.1007/978--3--319--10599- 4_40

[35]

Markus Kuderer, Henrik Kretzschmar, Christoph Sprunk, and Wolfram Burgard. 2012. Feature-based prediction of trajectories for socially compliant navigation. In Robotics: science and systems. https://doi.org/10.7551/mitpress/9816.001.0001

[36]

Rainer Kümmerle, Michael Ruhnke, Bastian Steder, Cyrill Stachniss, and Wolfram Burgard. 2015. Autonomous robot navigation in highly populated pedestrian zones. Journal of Field Robotics 32, 4 (2015), 565--589. https://doi.org/10.1002/rob. 21534

Digital Library

[37]

Linh Kästner and Jens Lambrecht. 2019. Augmented-Reality-Based Visualization of Navigation Data of Mobile Robots on the Microsoft Hololens - Possibilities and Limitations. In 2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM). 344--349. https://doi.org/10.1109/CIS-RAM47153.2019.9095836

[38]

Shan G. Lakhmani, Julia L. Wright, Michael R. Schwartz, and Daniel Barber. 2019. Exploring the Effect of Communication Patterns and Transparency on Performance in a Human-Robot Team. Proceedings of the Human Factors and Ergonomics Society Annual Meeting 63, 1, 160--164. https://doi.org/10.1177/ 1071181319631054 arXiv:https://doi.org/10.1177/1071181319631054

[39]

Kunming Li, Mao Shan, Karan Narula, Stewart Worrall, and Eduardo Nebot. 2020. Socially Aware Crowd Navigation with Multimodal Pedestrian Trajectory Prediction for Autonomous Vehicles. In 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC). 1--8. https://doi.org/10.1109/ITSC45102. 2020.9294304

[40]

Michal Luria, Marius Hoggenmüller, Wen-Ying Lee, Luke Hespanhol, Malte Jung, and Jodi Forlizzi. 2021. Research through Design Approaches in Human-Robot Interaction. In Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction (Boulder, CO, USA) (HRI '21 Companion). Association for Computing Machinery, New York, NY, USA, 685--687. https://doi.org/10. 1145/3434074.3444868

Digital Library

[41]

Michal Luria, John Zimmerman, and Jodi Forlizzi. 2019. Championing Research Through Design in HRI. (2019). https://doi.org/10.48550/ARXIV.1908.07572

[42]

Greg Lynn. 2021. Robot Etiquette. https://medium.com/@formgreglynn/robot- etiquette-6509abc92e32

[43]

Ruth Madigan, Sina Nordhoff, Charles Fox, Roja Ezzati Amini, Tyron Louw, Marc Wilbrink, Anna Schieben, and Natasha Merat. 2019. Understanding interactions between Automated Road Transport Systems and other road users: A video analysis. Transportation Research Part F: Traffic Psychology and Behaviour 66 (2019), 196--213. https://doi.org/10.1016/j.trf.2019.09.006

[44]

Conor McGinn. 2020. Why do robots need a head? The role of social interfaces on service robots. International Journal of Social Robotics 12, 1 (2020), 281--295. https://doi.org/10.1007/s12369-019-00564--5

[45]

James W. Moore. 2016. What Is the Sense of Agency and Why Does it Matter? Frontiers in Psychology 7 (2016). https://doi.org/10.3389/fpsyg.2016.01272

[46]

Faizan Muhammad, Amel Hassan, Andre Cleaver, and Jivko Sinapov. 2020. Cre- ating a Shared Reality with Robots. In Proceedings of the 14th ACM/IEEE Interna- tional Conference on Human-Robot Interaction (Daegu, Republic of Korea) (HRI '19). IEEE Press, 614--615. https://doi.org/10.1109/HRI.2019.8673191

[47]

United States Road Symbol Signs FHWA MUTCD. 2002. Manual on Uniform Traffic Control Devices. https://mutcd.fhwa.dot.gov/services/publications/fhwaop02084/ index.htm

[48]

Mohammad Naiseh, Deniz Cemiloglu, Dena Al Thani, Nan Jiang, and Raian Ali. 2021. Explainable recommendations and calibrated trust: two systematic user errors. Computer 54, 10 (2021), 28--37. https://doi.org/10.1109/MC.2021.3076131

[49]

Daniel Omeiza, Sule Anjomshoae, Konrad Kollnig, Oana-Maria Camburu, Kary Främling, and Lars Kunze. 2021. Towards Explainable and Trustworthy Au- tonomous Physical Systems. In Extended Abstracts of the 2021 CHI Conference on Human Factors in Computing Systems (Yokohama, Japan) (CHI EA '21). As- sociation for Computing Machinery, New York, NY, USA, Article 88, 3 pages. https://doi.org/10.1145/3411763.3441338

Digital Library

[50]

Marine Pagliari, Valérian Chambon, and Bruno Berberian. 2022. What is new with Artificial Intelligence? Human--agent interactions through the lens of social agency. Frontiers in Psychology 13 (Sept. 2022). https://doi.org/10.3389/fpsyg. 2022.954444

[51]

Kelian van Pernis. 2022. Investigating pedestrian-robot interaction in a context manipulation experiment. Master's thesis. https://studenttheses.uu.nl/handle/20. 500.12932/41450

[52]

Manon Predhumeau, Anne Spalanzani, and Julie Dugdale. 2021. Pedestrian Behavior in Shared Spaces with Autonomous Vehicles: An Integrated Framework and Review. IEEE Transactions on Intelligent Vehicles (2021), 1--1. https://doi.org/ 10.1109/TIV.2021.3116436

[53]

Photchara Ratsamee, Yasushi Mae, Kazuto Kamiyama, Mitsuhiro Horade, Masaru Kojima, and Tatsuo Arai. 2015. Social interactive robot navigation based on human intention analysis from face orientation and human path prediction. ROBOMECH Journal 2 (2015), 1--18. https://doi.org/10.1186/s40648-015-0033-z

[54]

Christopher Reardon, Kevin Lee, and Jonathan Fink. 2018. Come see this! aug- mented reality to enable human-robot cooperative search. In 2018 IEEE Inter- national Symposium on Safety, Security, and Rescue Robotics (SSRR). IEEE, 1--7. https://doi.org/10.1109/SSRR.2018.8468622

Digital Library

[55]

Mireia Ribera and Agata Lapedriza. 2019. Can we do better explanations? A proposal of user-centered explainable AI. In IUI Workshops, Vol. 2327. 38.

[56]

Alexandros Rotsidis, Andreas Theodorou, Joanna J. Bryson, and Robert H. Wortham. 2019. Improving Robot Transparency: An Investigation With Mo- bile Augmented Reality. In 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). 1--8. https://doi.org/10.1109/RO- MAN46459.2019.8956390

[57]

Andrey Rudenko, Luigi Palmieri, Michael Herman, Kris M Kitani, Dariu M Gavrila, and Kai O Arras. 2020. Human motion trajectory prediction: a survey. The International Journal of Robotics Research 39, 8 (2020), 895--935. https://doi.org/ 10.1177/0278364920917446 arXiv:https://doi.org/10.1177/0278364920917446

Digital Library

[58]

P. Salvini, G. Ciaravella, W. Yu, G. Ferri, A. Manzi, B. Mazzolai, C. Laschi, S.R. Oh, and P. Dario. 2010. How safe are service robots in urban environments? Bullying a robot. In 19th International Symposium in Robot and Human Interactive Communication. 1--7. https://doi.org/10.1109/ROMAN.2010.5654677

[59]

Supraja Sankaran, Chao Zhang, Marisela Gutierrez Lopez, and Kaisa Väänänen. 2020. Respecting Human Autonomy through Human-Centered AI. In Proceedings of the 11th Nordic Conference on Human-Computer Interaction: Shaping Experiences, Shaping Society (Tallinn, Estonia) (NordiCHI '20). Association for Computing Machinery, New York, NY, USA, Article 134, 3 pages. https://doi.org/10.1145/ 3419249.3420098

Digital Library

[60]

Martin Schrepp, Andreas Hinderks, and Jörg Thomaschewski. 2017. Design and evaluation of a short version of the User Experience Questionnaire (UEQ- . International Journal of Interactive Multimedia and Artificial Intelligence 4, 6 (2017), 103. https://doi.org/10.9781/ijimai.2017.09.001

[61]

Anthony R. Selkowitz, Cintya A. Larios, Shan G. Lakhmani, and Jessie Y.C. Chen. 2017. Displaying Information to Support Transparency for Autonomous Plat- forms. In Advances in Human Factors in Robots and Unmanned Systems, Pamela Savage-Knepshield and Jessie Chen (Eds.). Springer International Publishing, Cham, 161--173. https://doi.org/10.1007/978--3--319--41959--6_14

[62]

Moondeep Chandra Shrestha, Ayano Kobayashi, Tomoya Onishi, Erika Uno, Hayato Yanagawa, Yuta Yokoyama, Mitsuhiro Kamezaki, Alexander Schmitz, and Shigeki Sugano. 2016. Intent Communication in Navigation through the Use of Light and Screen Indicators. In The Eleventh ACM/IEEE International Conference on Human Robot Interaction (Christchurch, New Zealand) (HRI '16). IEEE Press, 523--524. https://doi.org/10.1109/HRI.2016.7451837

[63]

Moondeep C. Shrestha, Tomoya Onishi, Ayano Kobayashi, Mitsuhiro Kamezaki, and Shigeki Sugano. 2018. Communicating Directional Intent in Robot Navigation using Projection Indicators. In 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). 746--751. https://doi.org/10. 1109/ROMAN.2018.8525528

Digital Library

[64]

Ryo Suzuki, Adnan Karim, Tian Xia, Hooman Hedayati, and Nicolai Marquardt. 2022. Augmented Reality and Robotics: A Survey and Taxonomy for AR- Enhanced Human-Robot Interaction and Robotic Interfaces. In Proceedings of the 2022 CHI Conference on Human Factors in Computing Systems (New Orleans, LA, USA) (CHI '22). Association for Computing Machinery, New York, NY, USA, Article 553, 33 pages. https://doi.org/10.1145/3491102.3517719

Digital Library

[65]

Daniel Szafir, Bilge Mutlu, and Terry Fong. 2015. Communicating Direc- tionality in Flying Robots. In Proceedings of the Tenth Annual ACM/IEEE In- ternational Conference on Human-Robot Interaction (Portland, Oregon, USA) (HRI '15). Association for Computing Machinery, New York, NY, USA, 19--26. https://doi.org/10.1145/2696454.2696475

Digital Library

[66]

Yenet Deribe Tafesse, Maggie Wigness, and Jeff Twigg. 2018. Analysis techniques for displaying robot intent with led patterns. Technical Report. US Army Research Laboratory Adelphi.

[67]

Adam Tapal, Ela Oren, Reuven Dar, and Baruch Eitam. 2017. The Sense of Agency Scale: A Measure of Consciously Perceived Control over One's Mind, Body, and the Immediate Environment. Frontiers in Psychology 8 (2017). https: //doi.org/10.3389/fpsyg.2017.01552

[68]

Mohsen Tavakol and Reg Dennick. 2011. Making sense of Cronbach's alpha. International journal of medical education 2 (2011), 53. https://doi.org/10.5116/ ijme.4dfb.8dfd

[69]

Christian Vassallo, Anne-Hélène Olivier, Philippe Souères, Armel Crétual, Olivier Stasse, and Julien Pettré. 2018. How do walkers behave when crossing the way of a mobile robot that replicates human interaction rules? Gait & posture 60 (2018), 188--193. https://doi.org/10.1016/j.gaitpost.2017.12.002

[70]

Michael Walker, Hooman Hedayati, Jennifer Lee, and Daniel Szafir. 2018. Com- municating Robot Motion Intent with Augmented Reality. In Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction (Chicago, IL, USA) (HRI '18). Association for Computing Machinery, New York, NY, USA, 316--324. https://doi.org/10.1145/3171221.3171253

Digital Library

[71]

Atsushi Watanabe, Tetsushi Ikeda, Yoichi Morales, Kazuhiko Shinozawa, Takahiro Miyashita, and Norihiro Hagita. 2015. Communicating robotic navigational intentions. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 5763--5769. https://doi.org/10.1109/IROS.2015.7354195

Digital Library

[72]

Gesa Wiegand, Malin Eiband, Maximilian Haubelt, and Heinrich Hussmann. 2020. "I'd like an Explanation for That!"Exploring Reactions to Unexpected Autonomous Driving. In 22nd International Conference on Human-Computer Interaction with Mobile Devices and Services (Oldenburg, Germany) (MobileHCI '20). Association for Computing Machinery, New York, NY, USA, Article 36, 11 pages. https://doi.org/10.1145/3379503.3403554

Digital Library

[73]

Robert H. Wortham, Andreas Theodorou, and Joanna J. Bryson. 2017. Improving robot transparency: Real-time visualisation of robot AI substantially improves understanding in naive observers. In 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). 1424--1431. https: //doi.org/10.1109/ROMAN.2017.8172491

Digital Library

[74]

Julia L. Wright, Jessie Y. C. Chen, and Shan G. Lakhmani. 2020. Agent Trans- parency and Reliability in Human--Robot Interaction: The Influence on User Confidence and Perceived Reliability. IEEE Transactions on Human-Machine Systems 50, 3 (2020), 254--263. https://doi.org/10.1109/THMS.2019.2925717

[75]

Yaqi Xie, Indu P Bodala, Desmond C. Ong, David Hsu, and Harold Soh. 2019. Robot Capability and Intention in Trust-Based Decisions Across Tasks. In 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI). 39--47. https://doi.org/10.1109/HRI.2019.8673084

[76]

Jin Xu, De'Aira G. Bryant, and Ayanna Howard. 2018. Would You Trust a Ro- bot Therapist? Validating the Equivalency of Trust in Human-Robot Healthcare Scenarios. In 2018 27th IEEE International Symposium on Robot and Human In- teractive Communication (RO-MAN). 442--447. https://doi.org/10.1109/ROMAN. 2018.8525782

[77]

John Zimmerman, Jodi Forlizzi, and Shelley Evenson. 2007. Research through Design as a Method for Interaction Design Research in HCI. In Proceedings of the SIGCHI Conference on Human Factors in Computing Systems (San Jose, California, USA) (CHI '07). Association for Computing Machinery, New York, NY, USA, 493--502. https://doi.org/10.1145/1240624.1240704

Digital Library

[78]

John Zimmerman, Aaron Steinfeld, Anthony Tomasic, and Oscar J. Romero. 2022. Recentering Reframing as an RtD Contribution: The Case of Pivoting from Accessible Web Tables to a Conversational Internet. In Proceedings of the 2022 CHI Conference on Human Factors in Computing Systems (New Orleans, LA, USA) (CHI '22). Association for Computing Machinery, New York, NY, USA, Article 541, 14 pages. https://doi.org/10.1145/3491102.3517789

Digital Library

Cited By

Yu HDu SKurien Avan Wyk BLiu Q(2024)The Sense of Agency in Human–Machine Interaction SystemsApplied Sciences10.3390/app1416732714:16(7327)Online publication date: 20-Aug-2024
https://doi.org/10.3390/app14167327
Li XRen YJiang HYu HCui YXu LLarson K(2024)DenseKoopmanProceedings of the Thirty-Third International Joint Conference on Artificial Intelligence10.24963/ijcai.2024/113(1020-1028)Online publication date: 3-Aug-2024
https://dl.acm.org/doi/10.24963/ijcai.2024/113
Yu XHoggenmüller MTran TWang YTomitsch M(2024)Understanding the Interaction between Delivery Robots and Other Road and Sidewalk Users: A Study of User-generated Online VideosACM Transactions on Human-Robot Interaction10.1145/367761513:4(1-32)Online publication date: 23-Oct-2024
https://dl.acm.org/doi/10.1145/3677615
Show More Cited By

Index Terms

Your Way Or My Way: Improving Human-Robot Co-Navigation Through Robot Intent and Pedestrian Prediction Visualisations
1. Human-centered computing
  1. Interaction design
    1. Empirical studies in interaction design

Recommendations

Communicating Robot Motion Intent with Augmented Reality
HRI '18: Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction

Humans coordinate teamwork by conveying intent through social cues, such as gestures and gaze behaviors. However, these methods may not be possible for appearance-constrained robots that lack anthropomorphic or zoomorphic features, such as aerial ...
A mobile robot with autonomous climbing and descending of stairs

Mobile robots are used to operate in urban environments, for surveillance, reconnaissance, and inspection, as well as for military operations and in hazardous environments. Some are intended for exploration of only natural terrains, but others also for ...
Biomimetic application of desert ant visual navigation for mobile robot docking with weighted landmarks

Previous work has shown that honeybees use a snapshot model to determine a local vector to find their way home. A simpler, average landmark vector model has since been proposed for biologically-inspired mobile robot homing. Previously, the authors have ...

Comments

Information & Contributors

Information

Published In

cover image ACM Conferences

HRI '23: Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction

March 2023

631 pages

ISBN:9781450399647

DOI:10.1145/3568162

General Chairs:
Ginevra Castellano
Uppsala University, Sweden
,
Laurel Riek
University of California San Diego, USA
,
Program Chairs:
Maya Cakmak
University of Washington, USA
,
Iolanda Leite
KTH Royal Institute of Technology, Sweden

Copyright © 2023 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

Sponsors

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 13 March 2023

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Author Tags

Qualifiers

Research-article

Funding Sources

The Australian Research Council

Conference

HRI '23

Sponsor:

HRI '23: ACM/IEEE International Conference on Human-Robot Interaction

March 13 - 16, 2023

Stockholm, Sweden

Acceptance Rates

Overall Acceptance Rate 268 of 1,124 submissions, 24%

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

13
Total Citations
View Citations
516
Total Downloads

Downloads (Last 12 months)214
Downloads (Last 6 weeks)32

Reflects downloads up to 05 Mar 2025

Other Metrics

View Author Metrics

Citations

Cited By

Yu HDu SKurien Avan Wyk BLiu Q(2024)The Sense of Agency in Human–Machine Interaction SystemsApplied Sciences10.3390/app1416732714:16(7327)Online publication date: 20-Aug-2024
https://doi.org/10.3390/app14167327
Li XRen YJiang HYu HCui YXu LLarson K(2024)DenseKoopmanProceedings of the Thirty-Third International Joint Conference on Artificial Intelligence10.24963/ijcai.2024/113(1020-1028)Online publication date: 3-Aug-2024
https://dl.acm.org/doi/10.24963/ijcai.2024/113
Yu XHoggenmüller MTran TWang YTomitsch M(2024)Understanding the Interaction between Delivery Robots and Other Road and Sidewalk Users: A Study of User-generated Online VideosACM Transactions on Human-Robot Interaction10.1145/367761513:4(1-32)Online publication date: 23-Oct-2024
https://dl.acm.org/doi/10.1145/3677615
Yu XHoggenmüller MTomitsch M(2024)Encouraging Bystander Assistance for Urban Robots: Introducing Playful Robot Help-Seeking as a StrategyProceedings of the 2024 ACM Designing Interactive Systems Conference10.1145/3643834.3661505(2514-2529)Online publication date: 1-Jul-2024
https://dl.acm.org/doi/10.1145/3643834.3661505
Van Deurzen BRovelo Ruiz GLuyten KGrollman DBroadbent EJu WSoh HWilliams T(2024)A Visual Design Space for One-Dimensional Intelligible Human-Robot Interaction VisualizationsCompanion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3610978.3640557(1067-1071)Online publication date: 11-Mar-2024
https://dl.acm.org/doi/10.1145/3610978.3640557
Yasar MIslam MIqbal TGrollman DBroadbent EJu WSoh HWilliams T(2024)PoseTron: Enabling Close-Proximity Human-Robot Collaboration Through Multi-human Motion PredictionProceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3610977.3635006(830-839)Online publication date: 11-Mar-2024
https://dl.acm.org/doi/10.1145/3610977.3635006
Pelikan HReeves SCantarutti MGrollman DBroadbent EJu WSoh HWilliams T(2024)Encountering Autonomous Robots on Public StreetsProceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3610977.3634936(561-571)Online publication date: 11-Mar-2024
https://dl.acm.org/doi/10.1145/3610977.3634936
Turriziani LKraus JRuess SZeng ZKannan S(2024)Robots on the road - Investigating potentials of eHMI-concepts for HRI to tackle critical situations in public spaces2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)10.1109/RO-MAN60168.2024.10731231(1681-1688)Online publication date: 26-Aug-2024
https://doi.org/10.1109/RO-MAN60168.2024.10731231
Keczan LOrsi BKatona KMikuska RNeamah HCsukonyi CKorondi P(2024)Technical limitations of Organic Human-Robot Interaction (O-HRI) for mobile robots moving amongst humans2024 IEEE 21st International Power Electronics and Motion Control Conference (PEMC)10.1109/PEMC61721.2024.10726327(1-6)Online publication date: 30-Sep-2024
https://doi.org/10.1109/PEMC61721.2024.10726327
Kamalasanan VFuest SSester M(2024)Investigating Effects of Future Path Visualisation on Path Choices During Collision EncountersUntersuchung der Auswirkungen der Visualisierung zukünftiger Pfade auf die Pfadwahl bei KollisionsbegegnungenKN - Journal of Cartography and Geographic Information10.1007/s42489-024-00177-774:3-4(205-219)Online publication date: 1-Dec-2024
https://doi.org/10.1007/s42489-024-00177-7
Show More Cited By

View Options

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

View options

PDF

View or Download as a PDF file.

eReader

View online with eReader.

Figures

Tables

Media

View Table of Conten