Rethinking Legibility in Social Robot Hallway Navigation: Impact of Intent Representation and Human Distraction
This research investigated how different ways of representing a robot's intent affect its ability to navigate safely and smoothly in hallways when humans are distracted. The study compared various intent models, finding that dynamic, interaction-level representations like Dynamic Passing Side Legibility were the most effective for coordination. Crucially, legible motion still improved objective coordination even when humans were divided in attention.