Understanding suitable locations for waiting

Takuya Kitade, Satoru Satake, Takayuki Kanda, Michita Imai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

21 Citations (Scopus)


This study addresses the robot that waits for users while they shop. In order to wait, the robot needs to understand which locations are appropriate for waiting. We investigated how people choose locations for waiting, and revealed that they are concerned with 'disturbing pedestrians' and 'disturbing shop activities'. Using these criteria, we developed a classifier of waiting locations. 'Disturbing pedestrians' are estimated from statistics of pedestrian trajectories, which is observed with a human-tracking system based on laser range finders. 'Disturbing shop activities' are estimated based on shop visibility. We evaluated this autonomous waiting behavior in a shopping-assist scenario. The experimental results revealed that users found the autonomous waiting robot chose appropriate waiting locations for waiting more than a robot with random choice or one controlled manually by the user him or herself.

Original languageEnglish
Title of host publicationHRI 2013 - Proceedings of the 8th ACM/IEEE International Conference on Human-Robot Interaction
Number of pages8
Publication statusPublished - 2013 Apr 8
Event8th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2013 - Tokyo, Japan
Duration: 2013 Mar 32013 Mar 6

Publication series

NameACM/IEEE International Conference on Human-Robot Interaction
ISSN (Electronic)2167-2148


Other8th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2013


  • Understanding environments
  • model for waiting locations
  • shopping-assistant robot

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Electrical and Electronic Engineering


Dive into the research topics of 'Understanding suitable locations for waiting'. Together they form a unique fingerprint.

Cite this