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Mobile service robots have become increasingly ubiquitous. However, theserobots can pose potential accessibility issues and safety concerns to peoplewith visual impairments (PVI). We sought to explore the challenges faced by PVIaround mainstream mobile service robots and identify their needs. Seventeen PVIwere interviewed about their experiences with three emerging robots: vacuumrobots, delivery robots, and drones. We comprehensively investigated PVI'srobot experiences by considering their different roles around robots -- directusers and bystanders. Our study highlighted participants' challenges andconcerns about the accessibility, safety, and privacy issues around mobileservice robots. We found that the lack of accessible feedback made it difficultfor PVI to precisely control, locate, and track the status of the robots.Moreover, encountering mobile robots as bystanders confused and even scared theparticipants, presenting safety and privacy barriers. We further distilleddesign considerations for more accessible and safe robots for PVI.

"I was Confused by It; It was Confused by Me:" Exploring the Experiences of People with Visual Impairments around Mobile Service Robots