Are You With Me? Determining the Association of Individuals and the Collective Social Space The increasing use of autonomous mobile robots in different parts of society, and not restricted only to industrial environments, makes it important to propose techniques that will allow them to behave in the most socially acceptable way as possible. In most realworld scenarios, individuals in the environment are interacting with each other and are arranged into groups. Therefore, it is paramount the proposition of techniques to efficiently and correctly identify and represent such groups. This information can be useful in different tasks such as approaching and initiating an interaction, escorting, and the navigation itself. In this work, we propose a novel graphbased approach to evaluate the possible association of individuals in the environment based on their position and body orientation. Next, based on this association, we propose a representation of the combined social space of individuals in the same group. The methodology was evaluated using synthetic and realworld datasets, showing that it achieves results comparable to or better than the stateoftheart.

Right of Way, Assertiveness and Social Recognition in HumanRobot Doorway Interaction We expand on previous work for negotiating humanrobot navigation contention around doorways to produce a more sociallycompliant autonomous robot behaviour. Our goal is to improve the integration of robots navigating in human environments by eliciting human recognition of the robotxe2x80x99s right of way. This is achieved by incorporating feedback from a user study of our previous system to create a more communicative, reciprocal, and assertive behaviour. Our contribution includes both the updated behaviour and a new user study that evaluates and compares the system to its predecessor. Results show that participants are more likely to respect the robotxe2x80x99s right of way given the new robot behaviour, but their responses also highlight the challenges of socially integrating robots into human spaces.