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The study of human-robot interaction (HRI) has received increasing researchattention for robot navigation in pedestrian crowds. In this paper, we presentempirical study of pedestrian-robot interaction in an uni-directional exitcorridor. We deploy a mobile robot moving in a direction perpendicular to thatof the pedestrian flow, and install a pedestrian motion tracking system torecord the collective motion. We analyze both individual and collective motionof pedestrians, and measure the effect of the robot motion on the overallpedestrian flow. The experimental results show the effect of passive HRI, wherethe pedestrians' overall speed is slowed down in the presence of the robot, andthe faster the robot moves, the lower the average pedestrian velocity becomes.Experiment results show qualitative consistency of the collective HRI effectwith simulation results that was previously reported. The study can be used toguide future design of robot-assisted pedestrian evacuation algorithms.

Pedestrian-Robot Interaction Experiments in an Exit Corridor