Design of legible autonomous leading behavior based on dogs´ approach

This study addressed the leading behavior of a robot. To lead a person when the person´s attention is initially elsewhere, the robot´s behavior should be designed such that it seeks the person´s attention and seamlessly brings him or her to a target location. Therefore, we set out to design and implement a leading behavior for a robot inspired by the dogs´ behavior sequence. In particular, we considered the legibility of the movements used by the robot to show a robot´s destination clearly. We evaluated the autonomous robot´s leading behavior through an experiment.