Design of robust robotic proxemic behaviour

E. Torta, R.H. Cuijpers, J.F. Juola, D. Pol, van der

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

30 Citations (Scopus)
3 Downloads (Pure)


Personal robots that share the same space with humans need to be socially acceptable and effective as they interact with people. In this paper we focus our attention on the definition of a behaviour-based robotic architecture that, (1) allows the robot to navigate safely in a cluttered and dynamically changing domestic environment and (2) encodes embodied non-verbal interactions: the robot respects the user’s personal space by choosing the appropriate distance and direction of approach. The model of the personal space is derived from a human-robot psycho-physical study and it is described in a convenient mathematical form. The robot’s target location is dynamically inferred through the solution of a Bayesian filtering problem. The validation of the overall behavioural architecture shows that the robot is able to exhibit appropriate proxemic behaviour.
Original languageEnglish
Title of host publicationSocial Robotics (Third International Conference, ICSR 2011, Amsterdam, the Netherlands, November 24-25, 2011, Proceedings)
EditorsB. Mutlu, C. Bartneck, J.R.C. Ham, V. Evers, T. Kanda
Place of PublicationBerlin
Number of pages10
ISBN (Print)9783642255038
Publication statusPublished - 2011
Event3rd International Conference on Social Robotics, ICSR 2011 - Amsterdam, Netherlands
Duration: 24 Nov 201125 Nov 2011
Conference number: 3

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7072 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference3rd International Conference on Social Robotics, ICSR 2011
Abbreviated titleICSR 2011
Internet address


  • Particle Filter
  • Proxemic
  • Robotic Navigation


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