{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,10]],"date-time":"2026-03-10T11:18:42Z","timestamp":1773141522904,"version":"3.50.1"},"reference-count":49,"publisher":"Association for Computing Machinery (ACM)","issue":"4","license":[{"start":{"date-parts":[[2024,10,28]],"date-time":"2024-10-28T00:00:00Z","timestamp":1730073600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"JST CREST","award":["JPMJCR17A2"],"award-info":[{"award-number":["JPMJCR17A2"]}]},{"name":"JST Moonshot R & D","award":["JPMJMS2011"],"award-info":[{"award-number":["JPMJMS2011"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2024,12,31]]},"abstract":"<jats:p>We developed a security guard robot that is specifically designed to manage queues of people and conducted a field trial at an actual public event to assess its effectiveness. However, the acceptance of robot instructions or admonishments poses challenges in real-world applications. Our primary objective was to achieve an effective and socially acceptable queue-management solution. To accomplish this, we took inspiration from human security guards whose role has already been well received in society. Our robot, whose design embodied the image of a professional security guard, focused on three key aspects: duties, professional behavior, and appearance. To ensure its competence, we interviewed professional security guards to deepen our understanding of the responsibilities associated with queue management. Based on their insights, we incorporated features of ushering, admonishing, announcing, and question answering into the robot\u2019s functionality. We also prioritized the modeling of professional ushering behavior. During a 10-day field trial at a children\u2019s amusement event, we interviewed both the visitors who interacted with the robot and the event staff. The results revealed that visitors generally complied with its ushering and admonishments, indicating a positive reception. Both visitors and event staff expressed an overall favorable impression of the robot and its queue-management services. These findings suggest that our proposed security guard robot shows great promise as a solution for effective crowd handling in public spaces.<\/jats:p>","DOI":"10.1145\/3680292","type":"journal-article","created":{"date-parts":[[2024,7,25]],"date-time":"2024-07-25T12:00:29Z","timestamp":1721908829000},"page":"1-48","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":2,"title":["Field Trial of a Queue-Managing Security Guard Robot"],"prefix":"10.1145","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9898-9918","authenticated-orcid":false,"given":"Sachi","family":"Edirisinghe","sequence":"first","affiliation":[{"name":"Kyoto University, Kyoto, Japan and ATR Deep Interaction Laboratories, Kyoto, Japan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6482-1877","authenticated-orcid":false,"given":"Satoru","family":"Satake","sequence":"additional","affiliation":[{"name":"ATR Deep Interaction Laboratories, Kyoto, Japan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5927-0000","authenticated-orcid":false,"given":"Yuyi","family":"Liu","sequence":"additional","affiliation":[{"name":"Kyoto University, Kyoto, Japan and ATR Deep Interaction Laboratories, Kyoto, Japan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9546-5825","authenticated-orcid":false,"given":"Takayuki","family":"Kanda","sequence":"additional","affiliation":[{"name":"Kyoto University, Kyoto, Japan and ATR Deep Interaction Laboratories, Kyoto, Japan"}]}],"member":"320","published-online":{"date-parts":[[2024,10,28]]},"reference":[{"key":"e_1_3_1_2_2","unstructured":"2022. What Do Security Guards Wear? A detailed guide. https:\/\/prosecurityguardcalifornia.com\/what-do-security-guards-wear\/"},{"key":"e_1_3_1_3_2","doi-asserted-by":"crossref","first-page":"53","DOI":"10.1145\/3029798.3038362","volume-title":"Proceedings of the Companion of the 2017 ACM\/IEEE International Conference on Human-Robot Interaction","author":"Aaltonen Iina","year":"2017","unstructured":"Iina Aaltonen, Anne Arvola, P\u00e4ivi Heikkil\u00e4, and Hanna Lammi. 2017. Hello Pepper, may I tickle you? Children\u2019s and adults\u2019 responses to an entertainment robot at a shopping mall. In Proceedings of the Companion of the 2017 ACM\/IEEE International Conference on Human-Robot Interaction, 53\u201354."},{"key":"e_1_3_1_4_2","article-title":"\u201cNo Chit Chat!\u201d A Warning from a Physical Versus Virtual Robot Invigilator: Which Matters Most?","volume":"9","author":"Ahmad Muneeb I.","year":"2022","unstructured":"Muneeb I. Ahmad and Reem Refik. 2022. \u201cNo Chit Chat!\u201d A Warning from a Physical Versus Virtual Robot Invigilator: Which Matters Most? Frontiers in Robotics and AI 9 (2022). DOI: https:\/\/doi.org\/10.3389\/frobt.2022.908013","journal-title":"Frontiers in Robotics and AI"},{"key":"e_1_3_1_5_2","first-page":"4236","volume-title":"Proceedings of the 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS).","author":"Anderson Cyrus","year":"2019","unstructured":"Cyrus Anderson, Xiaoxiao Du, Ram Vasudevan, and Matthew Johnson-Roberson. 2019. Stochastic sampling simulation for pedestrian trajectory prediction. In Proceedings of the 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 4236\u20134243."},{"issue":"1","key":"e_1_3_1_6_2","doi-asserted-by":"crossref","first-page":"47","DOI":"10.1111\/j.1559-1816.1974.tb02599.x","article-title":"The social power of a uniform 1","volume":"4","author":"Bickman Leonard","year":"1974","unstructured":"Leonard Bickman. 1974. The social power of a uniform 1. Journal of Applied Social Psychology 4, 1 (1974), 47\u201361.","journal-title":"Journal of Applied Social Psychology"},{"key":"e_1_3_1_7_2","volume-title":"Psychological reactance: A theory of freedom and control","author":"Brehm Sharon S.","year":"2013","unstructured":"Sharon S. Brehm and Jack W. Brehm. 2013. Psychological reactance: A theory of freedom and control. Academic Press."},{"key":"e_1_3_1_8_2","unstructured":"Susannah Breslin. [n.d.]. Meet the Terrifying New Robot Cop That\u2019s Patrolling Dubai. Retrieved from https:\/\/www.forbes.com\/sites\/susannahbreslin\/2017\/06\/03\/robot-cop-dubai\/"},{"key":"e_1_3_1_9_2","doi-asserted-by":"publisher","DOI":"10.1145\/2696454.2696468"},{"key":"e_1_3_1_10_2","doi-asserted-by":"publisher","DOI":"10.1177\/0146167288143004"},{"key":"e_1_3_1_11_2","doi-asserted-by":"publisher","DOI":"10.1177\/1729881417703569"},{"key":"e_1_3_1_12_2","doi-asserted-by":"publisher","DOI":"10.1145\/3544548.3581564"},{"key":"e_1_3_1_13_2","first-page":"1","volume-title":"Proceedings of the International Conference on Human-Agent Interaction","author":"Cormier Derek","year":"2013","unstructured":"Derek Cormier, Gem Newman, Masayuki Nakane, James E Young, and Stephane Durocher. 2013. Would you do as a robot commands? An obedience study for human-robot interaction. In Proceedings of the International Conference on Human-Agent Interaction, 1\u20133."},{"key":"e_1_3_1_14_2","doi-asserted-by":"publisher","DOI":"10.1145\/3575805"},{"key":"e_1_3_1_15_2","first-page":"769","volume-title":"Proceedings of the 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN).","author":"Forlizzi Jodi","year":"2016","unstructured":"Jodi Forlizzi, Thidanun Saensuksopa, Natalie Salaets, Mike Shomin, Tekin Mericli, and Guy Hoffman. 2016. Let\u2019s be honest: A controlled field study of ethical behavior in the presence of a robot. In Proceedings of the 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). IEEE, 769\u2013774."},{"key":"e_1_3_1_16_2","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2021.721317"},{"key":"e_1_3_1_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCA.2011.2164243"},{"key":"e_1_3_1_18_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.nedt.2003.10.001"},{"key":"e_1_3_1_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2006.889486"},{"key":"e_1_3_1_20_2","doi-asserted-by":"publisher","DOI":"10.1145\/2696454.2696487"},{"key":"e_1_3_1_21_2","doi-asserted-by":"publisher","DOI":"10.25300\/MISQ\/2017\/41.2.06"},{"key":"e_1_3_1_22_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-019-00587-y"},{"key":"e_1_3_1_23_2","doi-asserted-by":"publisher","DOI":"10.1145\/3472207"},{"key":"e_1_3_1_24_2","first-page":"11","article-title":"Comply with me: Using design manipulations to affect human\u2013robot interaction in a COVID-19 officer robot use case","volume":"5","author":"Liberman-Pincu Ela","year":"2021","unstructured":"Ela Liberman-Pincu, Amit David, Vardit Sarne-Fleischmann, Yael Edan, and Tal Oron-Gilad. 2021. Comply with me: Using design manipulations to affect human\u2013robot interaction in a COVID-19 officer robot use case. Multimodal Technologies and Interaction 5, 11 (2021), 71.","journal-title":"Multimodal Technologies and Interaction"},{"key":"e_1_3_1_25_2","first-page":"5671","volume-title":"Proceedings of the 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS).","author":"Liu Lucia","year":"2020","unstructured":"Lucia Liu, Daniel Dugas, Gianluca Cesari, Roland Siegwart, and Renaud Dub\u00e9. 2020. Robot navigation in crowded environments using deep reinforcement learning. In Proceedings of the 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 5671\u20135677."},{"key":"e_1_3_1_26_2","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2019.8673115"},{"key":"e_1_3_1_27_2","doi-asserted-by":"publisher","DOI":"10.1145\/3171221.3171255"},{"key":"e_1_3_1_28_2","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2019.8673017"},{"key":"e_1_3_1_29_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00146-020-00954-8"},{"key":"e_1_3_1_30_2","doi-asserted-by":"publisher","DOI":"10.1007\/s42452-020-2192-7"},{"key":"e_1_3_1_31_2","unstructured":"Eyewitness News. 2021. NYPD\u2019s \u2018Digidog\u2019 returned \u2018put down\u2019 after viral outrage. Retrieved June 6 2021 from https:\/\/abc7ny.com\/digidog-robodog-robot-dog-nypd\/10559908\/"},{"key":"e_1_3_1_32_2","doi-asserted-by":"crossref","first-page":"227","DOI":"10.1145\/3029798.3038301","volume-title":"Proceedings of the Companion of the 2017 ACM\/IEEE International Conference on Human-Robot Interaction","author":"Niemel\u00e4 Marketta","year":"2017","unstructured":"Marketta Niemel\u00e4, P\u00e4ivi Heikkil\u00e4, and Hanna Lammi. 2017. A social service robot in a shopping mall: Expectations of the management, retailers and consumers. In Proceedings of the Companion of the 2017 ACM\/IEEE International Conference on Human-Robot Interaction, 227\u2013228."},{"key":"e_1_3_1_33_2","doi-asserted-by":"crossref","first-page":"2889","DOI":"10.1109\/ICRA.2016.7487452","volume-title":"Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA).","author":"Okal Billy","year":"2016","unstructured":"Billy Okal and Kai O. Arras. 2016. Learning socially normative robot navigation behaviors with bayesian inverse reinforcement learning. In Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2889\u20132895."},{"key":"e_1_3_1_34_2","doi-asserted-by":"publisher","DOI":"10.3390\/computers11120181"},{"key":"e_1_3_1_35_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-022-00864-3"},{"key":"e_1_3_1_36_2","doi-asserted-by":"publisher","DOI":"10.5898\/JHRI.1.1.Riek"},{"key":"e_1_3_1_37_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353616"},{"key":"e_1_3_1_38_2","doi-asserted-by":"publisher","DOI":"10.1145\/1514095.1514117"},{"key":"e_1_3_1_39_2","doi-asserted-by":"publisher","DOI":"10.1145\/3488241"},{"issue":"8","key":"e_1_3_1_40_2","doi-asserted-by":"crossref","first-page":"4431","DOI":"10.3390\/su13084431","article-title":"The emergence of service robots at restaurants: Integrating trust, perceived risk, and satisfaction","volume":"13","author":"Seo Kyung Hwa","year":"2021","unstructured":"Kyung Hwa Seo and Jee Hye Lee. 2021. The emergence of service robots at restaurants: Integrating trust, perceived risk, and satisfaction. Sustainability 13, 8 (2021), 4431.","journal-title":"Sustainability"},{"key":"e_1_3_1_41_2","first-page":"519","volume-title":"Proceedings of the 2016 11th ACM\/IEEE International Conference on Human-Robot Interaction (HRI)","author":"Shi Chao","year":"2016","unstructured":"Chao Shi, Satoru Satake, Takayuki Kanda, and Hiroshi Ishiguro. 2016. How would store managers employ social robots?. In Proceedings of the 2016 11th ACM\/IEEE International Conference on Human-Robot Interaction (HRI). IEEE, 519\u2013520."},{"key":"e_1_3_1_42_2","doi-asserted-by":"publisher","DOI":"10.1145\/1121241.1121293"},{"key":"e_1_3_1_43_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-010-0077-4"},{"key":"e_1_3_1_44_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-014-0238-y"},{"key":"e_1_3_1_45_2","doi-asserted-by":"publisher","unstructured":"Christina Steindl Eva Jonas Sandra Sittenthaler Eva Traut-Mattausch and Jeff Greenberg. 2015. Understanding psychological reactance. Zeitschrift f\u00fcr Psychologie (2015). DOI: 10.1027\/2151-2604\/a000222","DOI":"10.1027\/2151-2604\/a000222"},{"key":"e_1_3_1_46_2","first-page":"05","article-title":"Design and development of a security and guidance robot for employment in a mall","volume":"16","author":"Trovato Gabriele","year":"2019","unstructured":"Gabriele Trovato, Alexander Lopez, Renato Paredes, Diego Quiroz, and Francisco Cuellar. 2019. Design and development of a security and guidance robot for employment in a mall. International Journal of Humanoid Robotics 16, 05 (2019), 1950027.","journal-title":"International Journal of Humanoid Robotics"},{"key":"e_1_3_1_47_2","doi-asserted-by":"crossref","first-page":"195","DOI":"10.1007\/978-3-319-99885-5_14","volume-title":"Advances in Physical Agents: Proceedings of the 19th International Workshop of Physical Agents (WAF 2018)","author":"Vega Araceli","year":"2019","unstructured":"Araceli Vega, Luis J. Manso, Ram\u00f3n Cintas, and Pedro N\u00fa\u00f1ez. 2019a. Planning human-robot interaction for social navigation in crowded environments. In Advances in Physical Agents: Proceedings of the 19th International Workshop of Physical Agents (WAF 2018) Springer, 195\u2013208."},{"key":"e_1_3_1_48_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.patrec.2018.07.015"},{"key":"e_1_3_1_49_2","doi-asserted-by":"crossref","first-page":"140","DOI":"10.1109\/ICARSC49921.2020.9096113","volume-title":"Proceedings of the 2020 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC).","author":"Vega-Magro Araceli","year":"2020","unstructured":"Araceli Vega-Magro, Luis Vicente Calderita, Pablo Bustos, and P. N\u00fa\u00f1ez. 2020. Human-aware robot navigation based on time-dependent social interaction spaces: A use case for assistive robotics. In Proceedings of the 2020 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC). IEEE, 140\u2013145."},{"key":"e_1_3_1_50_2","doi-asserted-by":"publisher","DOI":"10.1145\/3319502.3374833"}],"container-title":["ACM Transactions on Human-Robot Interaction"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3680292","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3680292","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T00:58:26Z","timestamp":1750294706000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3680292"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,10,28]]},"references-count":49,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2024,12,31]]}},"alternative-id":["10.1145\/3680292"],"URL":"https:\/\/doi.org\/10.1145\/3680292","relation":{},"ISSN":["2573-9522"],"issn-type":[{"value":"2573-9522","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,10,28]]},"assertion":[{"value":"2023-08-03","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2024-06-06","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2024-10-28","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}