{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,20]],"date-time":"2026-05-20T09:54:27Z","timestamp":1779270867963,"version":"3.51.4"},"reference-count":52,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2015,7,19]],"date-time":"2015-07-19T00:00:00Z","timestamp":1437264000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2015,7,19]],"date-time":"2015-07-19T00:00:00Z","timestamp":1437264000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/100000006","name":"Office of Naval Research","doi-asserted-by":"publisher","award":["ONR-YIP"],"award-info":[{"award-number":["ONR-YIP"]}],"id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["0540865"],"award-info":[{"award-number":["0540865"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2015,10]]},"DOI":"10.1007\/s10514-015-9458-8","type":"journal-article","created":{"date-parts":[[2015,7,18]],"date-time":"2015-07-18T05:23:39Z","timestamp":1437197019000},"page":"331-345","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["Deceptive robot motion: synthesis, analysis and experiments"],"prefix":"10.1007","volume":"39","author":[{"given":"Anca","family":"Dragan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1947-4180","authenticated-orcid":false,"given":"Rachel","family":"Holladay","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Siddhartha","family":"Srinivasa","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2015,7,19]]},"reference":[{"key":"9458_CR1","doi-asserted-by":"crossref","unstructured":"Adar, E., Tan, D.S., & Teevan, J. (2013). Benevolent deception in human computer interaction. In Proceedings of the SIGCHI conference on human factors in computing systems, (pp. 1863\u20131872), ACM.","DOI":"10.1145\/2470654.2466246"},{"key":"9458_CR2","unstructured":"Alami, R., Clodic, A., Montreuil, V., Sisbot, E.A., & Chatila, R. (2006). Toward human-aware robot task planning. AAAI Spring Symposium (pp. 39\u201346)."},{"key":"9458_CR3","unstructured":"Arkin, R.C. (2011). The ethics of robotic deception. The computational turn: past, present, futures?."},{"key":"9458_CR4","unstructured":"Arkin, R.\u00a0C. (2012). Robots that need to mislead: Biologically-inspired machine deception. IEEE Intelligent Systems."},{"issue":"3","key":"9458_CR5","doi-asserted-by":"publisher","first-page":"571","DOI":"10.1109\/JPROC.2011.2173265","volume":"100","author":"RC Arkin","year":"2012","unstructured":"Arkin, R. C., Ulam, P., & Wagner, A. R. (2012). Moral decision making in autonomous systems: Enforcement, moral emotions, dignity, trust, and deception. Proceedings of the IEEE, 100(3), 571\u2013589.","journal-title":"Proceedings of the IEEE"},{"key":"9458_CR6","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1007\/s10514-009-9152-9","volume":"28","author":"M Beetz","year":"2010","unstructured":"Beetz, M., Stulp, F., Esden-Tempski, P., Fedrizzi, A., Klank, U., Kresse, I., et al. (2010). Generality and legibility in mobile manipulation. Autonomous Robots, 28, 21\u201344.","journal-title":"Autonomous Robots"},{"issue":"2779","key":"9458_CR7","doi-asserted-by":"publisher","first-page":"24","DOI":"10.1016\/S0262-4079(10)62327-5","volume":"207","author":"C Biever","year":"2010","unstructured":"Biever, C. (2010). Deceptive robots show theory of mind. New Scientist, 207(2779), 24\u201325.","journal-title":"New Scientist"},{"key":"9458_CR8","unstructured":"Biswas, J., Mendoza, J.\u00a0P., Zhu, D., Choi, B., Klee, S., & Veloso, M. (2014). Opponent-driven planning and execution for pass, attack, and defense in a multi-robot soccer team. International conference on autonomous agents and multi-agent systems (AAMAS) 2014."},{"key":"9458_CR9","doi-asserted-by":"crossref","unstructured":"Breazeal, C., Kidd, C.\u00a0D., Thomaz, A.\u00a0L., Hoffman, G., & Berlin, M. (2005). Effects of nonverbal communication on efficiency and robustness in human-robot teamwork. Intelligent robots and systems (IROS), (pp. 708\u2013713), IEEE .","DOI":"10.1109\/IROS.2005.1545011"},{"issue":"9","key":"9458_CR10","doi-asserted-by":"publisher","first-page":"1739","DOI":"10.1109\/JPROC.2006.880715","volume":"94","author":"BR Brewer","year":"2006","unstructured":"Brewer, B. R., Klatzky, R. L., & Matsuoka, Y. (2006). Visual-feedback distortion in a robotic rehabilitation environment. Proceedings of the IEEE, 94(9), 1739\u20131751.","journal-title":"Proceedings of the IEEE"},{"issue":"2","key":"9458_CR11","doi-asserted-by":"publisher","first-page":"113","DOI":"10.1023\/A:1010025403776","volume":"2","author":"C Castelfranchi","year":"2000","unstructured":"Castelfranchi, C. (2000). Artificial liars: Why computers will (necessarily) deceive us and each other. Ethics and Information Technology, 2(2), 113\u2013119.","journal-title":"Ethics and Information Technology"},{"key":"9458_CR12","unstructured":"Choudhury, S., Deb, A.\u00a0K., & Mukherjee, J. (2011) Designing deception in adversarial reinforcement learning."},{"issue":"1","key":"9458_CR13","doi-asserted-by":"publisher","first-page":"60","DOI":"10.1016\/j.actpsy.2006.09.007","volume":"124","author":"G Csibra","year":"2007","unstructured":"Csibra, G., & Gergely, G. (2007). Obsessed with goals: Functions and mechanisms of teleological interpretation of actions in humans. Acta Psychologica, 124(1), 60\u201378.","journal-title":"Acta Psychologica"},{"issue":"4","key":"9458_CR14","doi-asserted-by":"publisher","first-page":"327","DOI":"10.1111\/j.1745-3984.1971.tb00947.x","volume":"8","author":"RB D\u2019Agostino","year":"1971","unstructured":"D\u2019Agostino, R. B. (1971). A second look at analysis of variance on dichotomous data. Journal of Educational Measurement, 8(4), 327\u2013333.","journal-title":"Journal of Educational Measurement"},{"key":"9458_CR15","doi-asserted-by":"publisher","first-page":"58","DOI":"10.5898\/JHRI.2.2.Deits","volume":"2","author":"R Deits","year":"2013","unstructured":"Deits, R., Tellex, S., Thaker, P., Simeonov, D., Kollar, T., & Roy, N. (2013). Clarifying commands with information-theoretic human-robot dialog. Journal of Human-Robot Interaction, 2, 58\u201379.","journal-title":"Journal of Human-Robot Interaction"},{"key":"9458_CR16","volume-title":"The art of deception in warfare","author":"M Dewar","year":"1989","unstructured":"Dewar, M. (1989). The art of deception in warfare. Newton Abbot: David & Charles Publishers."},{"key":"9458_CR17","doi-asserted-by":"crossref","unstructured":"Dragan, A., Lee, K., & Srinivasa, S. (2013). Legibility and predictability of robot motion. In Human-Robot Interaction.","DOI":"10.1109\/HRI.2013.6483603"},{"key":"9458_CR18","unstructured":"Dragan, A., & Srinivasa, S. (2012). Formalizing assistive teleoperation. In Robotics: Science and Systems. Cambridge, MA: MIT Press."},{"key":"9458_CR19","unstructured":"Dragan, A., & Srinivasa, S. (2013). Generating legible motion. In Robotics: Science and Systems."},{"key":"9458_CR20","doi-asserted-by":"crossref","unstructured":"Dragan, A., & Srinivasa, S. (2014) Familiarization to robot motion. In Human-Robot Interaction.","DOI":"10.1145\/2559636.2559674"},{"issue":"6","key":"9458_CR21","doi-asserted-by":"publisher","first-page":"514","DOI":"10.1016\/j.cub.2007.01.058","volume":"17","author":"D Floreano","year":"2007","unstructured":"Floreano, D., Mitri, S., Magnenat, S., & Keller, L. (2007). Evolutionary conditions for the emergence of communication in robots. Current biology, 17(6), 514\u2013519.","journal-title":"Current biology"},{"key":"9458_CR22","unstructured":"Flynn, R. (1996). Anticipation and deception in squash. In 9th Squash Australia\/PSCAA National Coaching conference."},{"issue":"2","key":"9458_CR23","doi-asserted-by":"publisher","first-page":"165","DOI":"10.1016\/0010-0277(95)00661-H","volume":"56","author":"G Gergely","year":"1995","unstructured":"Gergely, G., Nadasdy, Z., Csibra, G., & Biro, S. (1995). Taking the intentional stance at 12 months of age. Cognition, 56(2), 165\u2013193.","journal-title":"Cognition"},{"key":"9458_CR24","doi-asserted-by":"crossref","unstructured":"Gielniak, M., & Thomaz, A. (2011). Generating anticipation in robot motion. In RO-MAN.","DOI":"10.1109\/ROMAN.2011.6005255"},{"issue":"1","key":"9458_CR25","doi-asserted-by":"publisher","first-page":"173","DOI":"10.1111\/tops.12007","volume":"5","author":"ND Goodman","year":"2013","unstructured":"Goodman, N. D., & Stuhlm\u00fcller, A. (2013). Knowledge and implicature: Modeling language understanding as social cognition. Topics in Cognitive Science, 5(1), 173\u2013184.","journal-title":"Topics in Cognitive Science"},{"issue":"1","key":"9458_CR26","doi-asserted-by":"publisher","first-page":"91","DOI":"10.1007\/s13347-014-0158-7","volume":"28","author":"FS Grodzinsky","year":"2015","unstructured":"Grodzinsky, F. S., Miller, K. W., & Wolf, M. J. (2015). Developing automated deceptions and the impact on trust. Philosophy & Technology, 28(1), 91\u2013105.","journal-title":"Philosophy & Technology"},{"issue":"3","key":"9458_CR27","doi-asserted-by":"publisher","first-page":"24","DOI":"10.1177\/1064804611415045","volume":"19","author":"P Hancock","year":"2011","unstructured":"Hancock, P., Billings, D., & Schaefer, K. (2011). Can you trust your robot? Ergonomics in Design: The Quarterly of Human Factors Applications, 19(3), 24\u201329.","journal-title":"Ergonomics in Design: The Quarterly of Human Factors Applications"},{"key":"9458_CR28","doi-asserted-by":"crossref","unstructured":"Holladay, R., Dragan, A., & Srinivasa, S.S. (2014). Legible robot pointing.","DOI":"10.1109\/ROMAN.2014.6926256"},{"issue":"3","key":"9458_CR29","doi-asserted-by":"publisher","first-page":"355","DOI":"10.1016\/j.actpsy.2006.02.002","volume":"123","author":"RC Jackson","year":"2006","unstructured":"Jackson, R. C., Warren, S., & Abernethy, B. (2006). Anticipation skill and susceptibility to deceptive movement. Acta psychologica, 123(3), 355\u2013371.","journal-title":"Acta psychologica"},{"key":"9458_CR30","unstructured":"Jim\u00a0Mainprice, T.S., Akin\u00a0Sisbot, E., & Alami, R. (2010). Planning safe and legible hand-over motions for human-robot interaction. In IARP Workshop on technical challenges for dependable robots in human environments."},{"key":"9458_CR31","unstructured":"Kahn\u00a0Jr, P.H., Kanda, T., Ishiguro, H., Gill, B.T., Ruckert, J.H., Shen, S., Gary, H.E., Reichert, A.L., Freier, N.G., & Severson, R.L. (2012). Do people hold a humanoid robot morally accountable for the harm it causes? In International conference on Human-robot interaction, pp. 33\u201340."},{"key":"9458_CR32","unstructured":"Nijholt, A. (2010) Computational deception."},{"key":"9458_CR33","unstructured":"Raza\u00a0Abidi, S.\u00a0S., Williams, M., & Johnston, B. (2013). Human pointing as a robot directive. In Proceedings of the 8th ACM\/IEEE international conference on Human-robot interaction, pp. 67\u201368. IEEE Press."},{"key":"9458_CR34","unstructured":"Reynolds, C., & Ishikawa, M. (2006). Robot trickery. In: International workshop on ethics of human interaction with robotic, bionic, and AI systems: Concepts and policies."},{"issue":"2","key":"9458_CR35","doi-asserted-by":"publisher","first-page":"1105","DOI":"10.1109\/TIE.2007.892728","volume":"54","author":"E Sato","year":"2007","unstructured":"Sato, E., Yamaguchi, T., & Harashima, F. (2007). Natural interface using pointing behavior for human-robot gestural interaction. IEEE Transactions on Industrial Electronics, 54(2), 1105\u20131112.","journal-title":"IEEE Transactions on Industrial Electronics"},{"key":"9458_CR36","unstructured":"Sharkey, A. Dignity, older people, and robots."},{"key":"9458_CR37","unstructured":"Sharkey, A., & Wood, N. (2015). The paro seal robot: demeaning or enabling?."},{"key":"9458_CR38","doi-asserted-by":"crossref","unstructured":"Shim, J., & Arkin, R.\u00a0C. (2012) Biologically-inspired deceptive behavior for a robot. In From Animals to Animats 12, pp. 401\u2013411. Springer.","DOI":"10.1007\/978-3-642-33093-3_40"},{"key":"9458_CR39","doi-asserted-by":"crossref","unstructured":"Shim, J., & Arkin, R.\u00a0C. (2013). A taxonomy of robot deception and its benefits in hri.","DOI":"10.1109\/SMC.2013.398"},{"key":"9458_CR40","doi-asserted-by":"crossref","unstructured":"Shim, J., & Arkin, R.\u00a0C. (2014) Other-oriented robot deception: A computational approach for deceptive action generation to benefit the mark.","DOI":"10.1109\/ROBIO.2014.7090385"},{"key":"9458_CR41","doi-asserted-by":"crossref","unstructured":"Short, E., Hart, J., Vu, M., & Scassellati, B. (2010). No fair!! an interaction with a cheating robot. In International conference on Human-robot interaction (HRI) (pp. 219\u2013226).","DOI":"10.1109\/HRI.2010.5453193"},{"issue":"4","key":"9458_CR42","doi-asserted-by":"publisher","first-page":"539","DOI":"10.1111\/j.2044-8295.2011.02092.x","volume":"103","author":"N Smeeton","year":"2012","unstructured":"Smeeton, N., & Williams, A. (2012). The role of movement exaggeration in the anticipation of deceptive soccer penalty kicks. British Journal of Psychology, 103(4), 539\u2013555.","journal-title":"British Journal of Psychology"},{"key":"9458_CR43","doi-asserted-by":"crossref","unstructured":"Takayama, L., Dooley, D., & Ju, W. (2011). Expressing thought: improving robot readability with animation principles. In HRI.","DOI":"10.1145\/1957656.1957674"},{"key":"9458_CR44","unstructured":"Terada, K., & Ito, A. (2010). Can a robot deceive humans? In: Human-Robot Interaction (HRI), 2010 5th ACM\/IEEE International Conference on, (pp. 191\u2013192) IEEE."},{"key":"9458_CR45","unstructured":"V\u00e1zquez, M., May, A., Steinfeld, A., & Chen, W.-H. (2011). A deceptive robot referee in a multiplayer gaming environment. In: 2011 International Conference on Collaboration Technologies and Systems (CTS), (pp. 204\u2013211) IEEE."},{"key":"9458_CR46","unstructured":"Vogel, A., Potts, C., & Jurafsky, D. Implicatures and nested beliefs in approximate Decentralized-POMDPs. In: Proceedings of the 51st annual meeting of the association for computational linguistics, Sofia, Bulgaria, August 2013. Association for Computational Linguistics."},{"key":"9458_CR47","doi-asserted-by":"crossref","unstructured":"Wagner, A.\u00a0R., & Arkin, R.\u00a0C. (2009). Robot deception: recognizing when a robot should deceive. In 2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), (pp. 46\u201354) IEEE.","DOI":"10.1109\/CIRA.2009.5423160"},{"issue":"1","key":"9458_CR48","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1007\/s12369-010-0073-8","volume":"3","author":"AR Wagner","year":"2011","unstructured":"Wagner, A. R., & Arkin, R. C. (2011). Acting deceptively: Providing robots with the capacity for deception. International Journal of Social Robotics, 3(1), 5\u201326.","journal-title":"International Journal of Social Robotics"},{"issue":"1","key":"9458_CR49","doi-asserted-by":"publisher","first-page":"178","DOI":"10.1080\/01402398208437106","volume":"5","author":"B Whaley","year":"1982","unstructured":"Whaley, B. (1982). Toward a general theory of deception. The Journal of Strategic Studies, 5(1), 178\u2013192.","journal-title":"The Journal of Strategic Studies"},{"key":"9458_CR50","doi-asserted-by":"crossref","unstructured":"Williams, M.-A., Wang, X., Parajuli, P., Abedi, S., Youssef, M., & Wang, W. (2014). The fugitive: a robot in the wild. In Proceedings of the 2014 ACM\/IEEE international conference on Human-robot interaction, (pp. 111\u2013111) ACM.","DOI":"10.1145\/2559636.2559653"},{"key":"9458_CR51","doi-asserted-by":"crossref","unstructured":"Yamaguchi, T., Sato, E., & Sakurai, S. (2007). Recognizing pointing behavior using humatronics oriented human-robot interaction. In 33rd annual conference of the IEEE industrial electronics society, (pp. 4\u20139).","DOI":"10.1109\/IECON.2007.4459994"},{"key":"9458_CR52","doi-asserted-by":"publisher","first-page":"1164","DOI":"10.1177\/0278364913488805","volume":"32","author":"M Zucker","year":"2013","unstructured":"Zucker, M., Ratliff, N., Dragan, A., Pivtoraiko, M., Klingensmith, M., Dellin, C., et al. (2013). Covariant hamiltonian optimization for motion planning. International Journal of Robotics Research, 32, 1164\u20131193.","journal-title":"International Journal of Robotics Research"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-015-9458-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10514-015-9458-8\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-015-9458-8","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-015-9458-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,5,17]],"date-time":"2020-05-17T08:41:24Z","timestamp":1589704884000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10514-015-9458-8"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,7,19]]},"references-count":52,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2015,10]]}},"alternative-id":["9458"],"URL":"https:\/\/doi.org\/10.1007\/s10514-015-9458-8","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,7,19]]},"assertion":[{"value":"24 November 2014","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"2 July 2015","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"19 July 2015","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}