{"id":"https://openalex.org/W3140646774","doi":"https://doi.org/10.1109/lra.2021.3068708","title":"Hey Robot, Which Way Are You Going? Nonverbal Motion Legibility Cues for Human-Robot Spatial Interaction","display_name":"Hey Robot, Which Way Are You Going? Nonverbal Motion Legibility Cues for Human-Robot Spatial Interaction","publication_year":2021,"publication_date":"2021-03-24","ids":{"openalex":"https://openalex.org/W3140646774","doi":"https://doi.org/10.1109/lra.2021.3068708","mag":"3140646774"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3068708","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068708","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2104.02275","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Nicholas J. Hetherington","orcid":"https://orcid.org/0000-0003-1117-5546"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Nicholas J. Hetherington","raw_affiliation_strings":["University of British Columbia, Canada"],"raw_orcid":"https://orcid.org/0000-0003-1117-5546","affiliations":[{"raw_affiliation_string":"University of British Columbia, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Elizabeth A. Croft","orcid":"https://orcid.org/0000-0002-9639-5291"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Elizabeth A. Croft","raw_affiliation_strings":["Monash University, 3800 Australia"],"raw_orcid":"https://orcid.org/0000-0002-9639-5291","affiliations":[{"raw_affiliation_string":"Monash University, 3800 Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"last","author":{"id":null,"display_name":"H.F. Machiel Van der Loos","orcid":"https://orcid.org/0000-0003-1355-980X"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"H.F. Machiel Van der Loos","raw_affiliation_strings":["University of British Columbia, Canada"],"raw_orcid":"https://orcid.org/0000-0003-1355-980X","affiliations":[{"raw_affiliation_string":"University of British Columbia, Canada","institution_ids":["https://openalex.org/I141945490"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.1006,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.96530184,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"6","issue":"3","first_page":"5010","last_page":"5015"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.963699996471405,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.963699996471405,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.007300000172108412,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.005400000140070915,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/legibility","display_name":"Legibility","score":0.9606999754905701},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6714000105857849},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5455999970436096},{"id":"https://openalex.org/keywords/nonverbal-communication","display_name":"Nonverbal communication","score":0.39890000224113464},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3970000147819519},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.3407000005245209}],"concepts":[{"id":"https://openalex.org/C2779332521","wikidata":"https://www.wikidata.org/wiki/Q1820694","display_name":"Legibility","level":2,"score":0.9606999754905701},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6714000105857849},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5712000131607056},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5490000247955322},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5455999970436096},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4855000078678131},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.453900009393692},{"id":"https://openalex.org/C145633318","wikidata":"https://www.wikidata.org/wiki/Q207125","display_name":"Nonverbal communication","level":2,"score":0.39890000224113464},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3970000147819519},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3407000005245209},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.33090001344680786},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"score":0.32749998569488525},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.3253999948501587},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3244999945163727},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.29490000009536743},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.2687000036239624},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.2581999897956848}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3068708","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068708","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2104.02275","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.02275","pdf_url":"https://arxiv.org/pdf/2104.02275","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2104.02275","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.02275","pdf_url":"https://arxiv.org/pdf/2104.02275","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1974516359","https://openalex.org/W1995782858","https://openalex.org/W2033921269","https://openalex.org/W2041547032","https://openalex.org/W2058852081","https://openalex.org/W2060100157","https://openalex.org/W2066622421","https://openalex.org/W2090189546","https://openalex.org/W2128213565","https://openalex.org/W2213945481","https://openalex.org/W2288655165","https://openalex.org/W2327678559","https://openalex.org/W2550441136","https://openalex.org/W2900196742","https://openalex.org/W3003314810","https://openalex.org/W4230824754","https://openalex.org/W4244859110","https://openalex.org/W4248056173","https://openalex.org/W4298660626","https://openalex.org/W6787789266"],"related_works":[],"abstract_inverted_index":{"Mobile":[0],"robots":[1,20,40],"have":[2],"recently":[3],"been":[4],"deployed":[5],"in":[6,147,170],"public":[7,171],"spaces":[8],"such":[9],"as":[10],"shopping":[11],"malls,":[12],"airports,":[13],"and":[14,52,61,103,137,156,167],"urban":[15],"sidewalks.":[16],"Most":[17],"of":[18,44,120,131,158],"these":[19,39],"are":[21,29],"designed":[22,31,60,92],"with":[23,34,115],"human-aware":[24],"motion":[25,65,73,80,122,159],"planning":[26],"capabilities":[27],"but":[28],"not":[30,134],"to":[32,75,86,95],"communicate":[33,69,96],"pedestrians.":[35,76],"Pedestrians":[36],"that":[37,128,138,153],"encounter":[38],"without":[41],"prior":[42],"understanding":[43],"the":[45,93,121,129,142,154],"robots'":[46,165],"behaviour":[47],"can":[48,162],"experience":[49],"discomfort,":[50],"confusion,":[51],"delayed":[53],"social":[54],"acceptance.":[55],"In":[56],"this":[57],"work":[58],"we":[59],"evaluated":[62],"nonverbal":[63],"robot":[64],"legibility":[66,81,123,160],"cues,":[67],"which":[68],"a":[70,79],"mobile":[71],"robot's":[72],"intention":[74],"We":[77,91,109,151],"compared":[78],"cue":[82,146],"using":[83,88,118],"Projected":[84,139],"Arrows":[85,140],"one":[87],"Flashing":[89],"Lights.":[90],"cues":[94,132,161],"path":[97],"information,":[98,100],"goal":[99],"or":[101],"both,":[102],"explored":[104],"different":[105],"Robot":[106],"Movement":[107],"Scenarios.":[108],"conducted":[110],"an":[111],"online":[112],"user":[113],"study":[114],"229":[116],"participants":[117],"videos":[119],"cues.":[124],"Our":[125],"results":[126],"show":[127],"absence":[130],"was":[133],"socially":[135,144],"acceptable,":[136],"were":[141],"more":[143],"acceptable":[145],"most":[148],"experimental":[149],"conditions.":[150],"conclude":[152],"presence":[155],"choice":[157],"positively":[163],"influence":[164],"acceptance":[166],"successful":[168],"deployment":[169],"spaces.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6}],"updated_date":"2026-06-13T07:54:00.901334","created_date":"2021-04-13T00:00:00"}