{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,13]],"date-time":"2026-04-13T18:36:29Z","timestamp":1776105389664,"version":"3.50.1"},"reference-count":51,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2021,7,11]],"date-time":"2021-07-11T00:00:00Z","timestamp":1625961600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"Hasso Plattner Design Thinking Research Program"},{"name":"Samsung Scholarship"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2021,9,30]]},"abstract":"<jats:p>\n            As swarm robots begin to share the same space with people, it is critical to design\n            <jats:italic>legible<\/jats:italic>\n            swarm robot motion that clearly and rapidly communicates the intent of the robots to nearby users. To address this, we apply concepts from intent-expressive robotics, swarm intelligence, and vision science. Specifically, we leverage the trajectory, collective behavior, and density of swarm robots to generate motion that implicitly guides people\u2019s attention toward the goal of the robots. Through online evaluations, we compared different types of intent-expressive motions both in terms of legibility as well as glanceability, a measure we introduce to gauge an observer\u2019s ability to predict robots\u2019 intent pre-attentively. The results show that the collective behavior-based motion has the best legibility performance overall, whereas, for glanceability, trajectory-based legible motion is most effective. These results suggest that the optimal solution may involve a combination of these legibility cues based on the scenario and the desired properties of the motion.\n          <\/jats:p>","DOI":"10.1145\/3442681","type":"journal-article","created":{"date-parts":[[2021,7,12]],"date-time":"2021-07-12T00:21:25Z","timestamp":1626049285000},"page":"1-25","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":15,"title":["Generating Legible and Glanceable Swarm Robot Motion through Trajectory, Collective Behavior, and Pre-attentive Processing Features"],"prefix":"10.1145","volume":"10","author":[{"given":"Lawrence H.","family":"Kim","sequence":"first","affiliation":[{"name":"Stanford University, United States, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sean","family":"Follmer","sequence":"additional","affiliation":[{"name":"Stanford University, United States, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2021,7,11]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912442095"},{"key":"e_1_2_2_2_1","volume-title":"Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (SMC\u201919)","author":"Ashcraft C. Chace","unstructured":"C. Chace Ashcraft , Michael A. Goodrich , and Jacob W. Crandall . 2019. Moderating operator influence in human-swarm systems . In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (SMC\u201919) . IEEE, 4275\u20134282. C. Chace Ashcraft, Michael A. Goodrich, and Jacob W. Crandall. 2019. Moderating operator influence in human-swarm systems. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (SMC\u201919). 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Dragan , Kenton C. T. Lee , and Siddhartha S . Srinivasa . 2013 . Legibility and predictability of robot motion. In Proceedings of the 8th ACM\/IEEE International Conference on Human-robot Interaction. IEEE Press , 301\u2013308. Anca D. Dragan, Kenton C. T. Lee, and Siddhartha S. Srinivasa. 2013. Legibility and predictability of robot motion. In Proceedings of the 8th ACM\/IEEE International Conference on Human-robot Interaction. 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Legibility of robot behavior: A literature review. https:\/\/hal.archives-ouvertes.fr\/hal-01306977.  Christina Lichtenth\u00e4ler and Alexandra Kirsch. 2016. Legibility of robot behavior: A literature review. https:\/\/hal.archives-ouvertes.fr\/hal-01306977."},{"key":"e_1_2_2_31_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-013-9822-x"},{"key":"e_1_2_2_32_1","doi-asserted-by":"publisher","DOI":"10.1145\/1142405.1142457"},{"key":"e_1_2_2_33_1","volume-title":"Proceedings of the ACM\/IEEE International Conference on Human-robot Interaction. 361\u2013369","author":"Mavrogiannis Christoforos I.","unstructured":"Christoforos I. Mavrogiannis , Wil B. Thomason , and Ross A. Knepper . 2018. Social momentum: A framework for legible navigation in dynamic multi-agent environments . In Proceedings of the ACM\/IEEE International Conference on Human-robot Interaction. 361\u2013369 . Christoforos I. Mavrogiannis, Wil B. Thomason, and Ross A. Knepper. 2018. 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