{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,27]],"date-time":"2026-06-27T08:04:10Z","timestamp":1782547450230,"version":"3.54.5"},"reference-count":13,"publisher":"World Scientific Pub Co Pte Lt","issue":"04","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2015,12]]},"abstract":"<jats:p> This paper describes an exploratory study on group interaction with a robot guide in an open large-scale busy environment. For an entire week, a humanoid robot was deployed in the popular Cosmocaixa Science Museum in Barcelona and guided hundreds of people through the museum facilities. The main goal of this experience is to study in the wild the episodes of the robot guiding visitors to a requested destination focusing on the group behavior during displacement. The walking behavior follow-me and the face-to-face communication in a populated environment are analyzed in terms of guide\u2013visitors interaction, grouping patterns and spatial formations. Results from observational data show that the space configurations spontaneously formed by the robot guide and visitors walking together did not always meet the robot communicative and navigational requirements for successful guidance. Therefore, additional verbal and nonverbal prompts must be considered to regulate effectively the walking together and follow-me behaviors. Finally, we discuss lessons learned and recommendations for robot\u2019s spatial behavior in dense crowded scenarios. <\/jats:p>","DOI":"10.1142\/s021984361550022x","type":"journal-article","created":{"date-parts":[[2015,5,19]],"date-time":"2015-05-19T06:35:45Z","timestamp":1432017345000},"page":"1550022","source":"Crossref","is-referenced-by-count":16,"title":["Evaluating Group-Robot Interaction in Crowded Public Spaces: A Week-Long Exploratory Study in the Wild with a Humanoid Robot Guiding Visitors Through a Science Museum"],"prefix":"10.1142","volume":"12","author":[{"given":"Marta","family":"D\u00edaz-Boladeras","sequence":"first","affiliation":[{"name":"Technical University of Catalonia, V\u00edctor Balaguer 1, 08800 Vilanova i la Geltr\u00fa, Spain"},{"name":"Escuela Superior Polit\u00e9cnica del Litoral, Km 30.5 v\u00eda Perimetral, 09015863 Guayaquil, Ecuador"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dennys","family":"Paillacho","sequence":"additional","affiliation":[{"name":"Technical University of Catalonia, V\u00edctor Balaguer 1, 08800 Vilanova i la Geltr\u00fa, Spain"},{"name":"Escuela Superior Polit\u00e9cnica del Litoral, Km 30.5 v\u00eda Perimetral, 09015863 Guayaquil, Ecuador"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Cecilio","family":"Angulo","sequence":"additional","affiliation":[{"name":"Technical University of Catalonia, V\u00edctor Balaguer 1, 08800 Vilanova i la Geltr\u00fa, Spain"},{"name":"Escuela Superior Polit\u00e9cnica del Litoral, Km 30.5 v\u00eda Perimetral, 09015863 Guayaquil, Ecuador"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Oriol","family":"Torres","sequence":"additional","affiliation":[{"name":"Pal Robotics, Pujades 77-79, 08005 Barcelona, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jonathan","family":"Gonz\u00e1lez-Di\u00e9guez","sequence":"additional","affiliation":[{"name":"Pal Robotics, Pujades 77-79, 08005 Barcelona, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jordi","family":"Albo-Canals","sequence":"additional","affiliation":[{"name":"La Salle BCN \u2014 Ramon Llull University, Quatre Camins 30, 08022 Barcelona, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"219","published-online":{"date-parts":[[2015,11,27]]},"reference":[{"key":"S021984361550022XBIB4","doi-asserted-by":"publisher","DOI":"10.1207\/s15327051hci1901&2_4"},{"key":"S021984361550022XBIB6","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(02)00376-7"},{"key":"S021984361550022XBIB9","doi-asserted-by":"publisher","DOI":"10.1109\/MIS.2007.37"},{"key":"S021984361550022XBIB10","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-012-0166-7"},{"key":"S021984361550022XBIB12","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-12397-9_1"},{"key":"S021984361550022XBIB13","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843608001303"},{"key":"S021984361550022XBIB14","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843613500084"},{"key":"S021984361550022XBIB18","doi-asserted-by":"publisher","DOI":"10.5898\/JHRI.1.1.Feil-Seifer"},{"key":"S021984361550022XBIB19","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843612500284"},{"key":"S021984361550022XBIB21","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912459278"},{"key":"S021984361550022XBIB22","doi-asserted-by":"publisher","DOI":"10.1016\/j.patrec.2013.10.003"},{"key":"S021984361550022XBIB23","doi-asserted-by":"publisher","DOI":"10.1007\/s10919-009-0077-y"},{"key":"S021984361550022XBIB24","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-013-0193-z"}],"container-title":["International Journal of Humanoid Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S021984361550022X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,6]],"date-time":"2019-08-06T20:07:24Z","timestamp":1565122044000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S021984361550022X"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,11,27]]},"references-count":13,"journal-issue":{"issue":"04","published-online":{"date-parts":[[2015,11,27]]},"published-print":{"date-parts":[[2015,12]]}},"alternative-id":["10.1142\/S021984361550022X"],"URL":"https:\/\/doi.org\/10.1142\/s021984361550022x","relation":{},"ISSN":["0219-8436","1793-6942"],"issn-type":[{"value":"0219-8436","type":"print"},{"value":"1793-6942","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,11,27]]}}}