Rethinking Legibility in Social Robot Hallway Navigation: Impact of Intent Representation and Human Distraction
ACM Transactions on Human-Robot Interaction (THRI), 2026.
Recommended citation: Pranav Goyal, Andrew Stratton, Christoforos Mavrogiannis, "Rethinking Legibility in Social Robot Hallway Navigation: Impact of Intent Representation and Human Distraction." ACM Transactions on Human-Robot Interaction (THRI), 2026. https://arxiv.org/abs/2609.40158
We investigate how intent representation and pedestrian attention shape legible robot navigation in constrained, dynamic hallways. Two controlled user studies with a Hello Robot Stretch 2 show that expressing an immediate passing-side choice, particularly when adapted to human motion, supports smoother coordination than expressing a final destination. These coordination benefits persist even when pedestrians are distracted.
This journal paper extends our HRI 2026 late-breaking report.