publications

2026

1. Bi3: A Biplatform, Bicultural, Biperson Dataset for Social Robot Navigation

   Andrew Stratton, Phani Teja Singamaneni, Pranav Goyal, and 2 more authors

   In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2026
2. How Human Motion Prediction Quality Shapes Social Robot Navigation Performance in Constrained Spaces

   Andrew Stratton, Phani Teja Singamaneni, Pranav Goyal, and 2 more authors

   Proceedings of the ACM/IEEE International Conference on Human Robot Interaction (HRI), 2026
3. Rethinking Legibility in Social Robot Navigation: Impact of Intent Representation and Human Attention

   Pranav Goyal, Andrew Stratton, and Christoforos Mavrogiannis

   In Companion Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction, Edinburgh, Scotland, UK, 2026

   Abs

   Legible motion enables humans to anticipate robot behavior during social navigation, but existing approaches largely assume open spaces, static interactions, and fully attentive pedestrians. We study legibility in the ubiquitous and realistic setting of hallway navigation through two user studies. Study 1 (N=45) evaluates how intent should be represented for legible navigation within a model predictive control framework. We find that expressing intent at the interaction level (i.e., passing side) and dynamically adapting it to human motion leads to smoother human trajectories and higher perceived competence than destination-based or non-legible baselines. Study 2 (N=45) examines whether legibility remains beneficial when pedestrians are cognitively distracted. While legible motion still reduced abrupt human motion relative to the non-legible baseline, subjective impressions were less sensitive under distraction. Together, these results demonstrate that legibility is most effective when grounded in immediate interaction objectives and highlight the need to account for attentional variability.

2025

1. Characterizing the Complexity of Social Robot Navigation Scenarios

   Andrew Stratton, Kris Hauser, and Christoforos Mavrogiannis

   IEEE Robotics and Automation Letters, 2025

   DOI

2024

1. Integrating Open-World Shared Control in Immersive Avatars

   Patrick Naughton, James Seungbum Nam, Andrew Stratton, and 1 more author

   In 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024

   DOI