A controller for an autonomous agent, the controller comprising: interface means for receiving sensor data; and processing means configured for: determining, based on the received sensor data: a position of the autonomous agent, a position of a human being guided by the autonomous agent in an environment, and operational information of one or more other autonomous agents (102.1, 102.2, 102.3); characterized in that the processing means is further configured for: estimating a risk of harm to the human based on a collision probability of the one or more other autonomous agents (102.1, 102.2, 102.3) with the human; wherein the collision probability is determined based on a distance of the human to the one or more other autonomous agents (102.1, 102.2, 102.3) and a behavior certainty score; and the behavior certainty score is determined based on a current movement of the human and a planned path of the autonomous agent through the environment; and controlling a movement of the autonomous agent based on the determined position of the autonomous agent, the determined position of the human being guided by the autonomous agent, and the operational information of one or more other autonomous agents (102.1, 102.2, 102.3) and based on the estimated risk of harm to the human. interface means for receiving sensor data; and processing means configured for: determining, based on the received sensor data: a position of the autonomous agent, a position of a human being guided by the autonomous agent in an environment, and operational information of one or more other autonomous agents (102.1, 102.2, 102.3); characterized in that the processing means is further configured for: estimating a risk of harm to the human based on a collision probability of the one or more other autonomous agents (102.1, 102.2, 102.3) with the human; wherein the collision probability is determined based on a distance of the human to the one or more other autonomous agents (102.1, 102.2, 102.3) and a behavior certainty score; and the behavior certainty score is determined based on a current movement of the human and a planned path of the autonomous agent through the environment; and controlling a movement of the autonomous agent based on the determined position of the autonomous agent, the determined position of the human being guided by the autonomous agent, and the operational information of one or more other autonomous agents (102.1, 102.2, 102.3) and based on the estimated risk of harm to the human. determining, based on the received sensor data: a position of the autonomous agent, a position of a human being guided by the autonomous agent in an environment, and operational information of one or more other autonomous agents (102.1, 102.2, 102.3); characterized in that the processing means is further configured for: estimating a risk of harm to the human based on a collision probability of the one or more other autonomous agents (102.1, 102.2, 102.3) with the human; wherein the collision probability is determined based on a distance of the human to the one or more other autonomous agents (102.1, 102.2, 102.3) and a behavior certainty score; and the behavior certainty score is determined based on a current movement of the human and a planned path of the autonomous agent through the environment; and controlling a movement of the autonomous agent based on the determined position of the autonomous agent, the determined position of the human being guided by the autonomous agent, and the operational information of one or more other autonomous agents (102.1, 102.2, 102.3) and based on the estimated risk of harm to the human. estimating a risk of harm to the human based on a collision probability of the one or more other autonomous agents (102.1, 102.2, 102.3) with the human; wherein the collision probability is determined based on a distance of the human to the one or more other autonomous agents (102.1, 102.2, 102.3) and a behavior certainty score; and the behavior certainty score is determined based on a current movement of the human and a planned path of the autonomous agent through the environment; and controlling a movement of the autonomous agent based on the determined position of the autonomous agent, the determined position of the human being guided by the autonomous agent, and the operational information of one or more other autonomous agents (102.1, 102.2, 102.3) and based on the estimated risk of harm to the human.