Spatial augmented reality as a method for a mobile robot to communicate intended movement

Our work evaluates a mobile robot’s ability to communicate intended movements to humans via projection of visual arrows and a simplified map. Humans utilize a variety of techniques to signal intended movement in a co-occupied space. We evaluated an augmented reality projection provided by the robot. The projection is on the floor and consists of arrows and a simplified map. Two pilots and one quasi-experiment were conducted to examine the effectiveness of visual projection of arrows by a robot for signaling intended movement. The pilot work demonstrates the effectiveness of utilizing arrows as a communication medium. The experiment examined the effectiveness of a simplified map and arrows for signaling the short-, mid-range, and long-term intended movement. Two pilot experiments confirm that arrows are an effective symbol for a robot to use to signal intent. A field experiment demonstrates that a robot can use a projected arrow and simplified map to signal its intended movement and people understand the projection for upcoming short-, medium-, and long-term movement. Augmented reality, such as projected arrows and simplified map, are an effective tool for robots to use when signaling their upcoming movement to humans. Telepresence robots in organizations, museum docents, information kiosks, hospital assistants, factories, and as members of search and rescue teams are typical applications where mobile robots reside and interact with people.