Group Formation in Multi-Robot Human Interaction During Service Scenarios

ABSTRACT In this paper, we explored how a mobile robot should join an existing multimodal interaction between a person and a stationary robot. We developed three different strategies (Circular, Line, and Improper) and an interactive system to put the strategies in practice. Circular (all interactants stand in a circle) and Line (two robots stand in a line facing a person) were based on existing human group spatial arrangements, whereas Improper (second robot stands far from the person and stationary robot) explored how a bad arrangement might change a user’s position and perception. We also investigated how scenarios with different tasks influenced human positions at different stages of the interaction. We conducted a 3x4 mixed design, in-person user study and found that participants in the Improper condition repositioned themselves to decrease the distance differences between interactants. We also conducted an exploratory analysis on the spatial data to better understand how user actions and social cues, such as gaze and vocalizations, changed spatial behaviors.