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Behavior of Delivery Robot in Human-Robot Collaborative Spaces During Navigation

Kiran Jot Singh1, Divneet Singh Kapoor1,*, Mohamed Abouhawwash2,3, Jehad F. Al-Amri4, Shubham Mahajan5, Amit Kant Pandit5

1 Embedded Systems & Robotics Research Group, Chandigarh University, Mohali, 140413, Punjab, India
2 Department of Mathematics, Faculty of Science, Mansoura University, Mansoura, 35516, Egypt
3 Department of Computational Mathematics, Science, and Engineering (CMSE), Michigan State University, East Lansing, MI, 48824, USA
4 Department of Information Technology, College of Computers and Information Technology, Taif University, Taif, 21944, Saudi Arabia
5 School of Electronics and Communication, Shri Mata Vaishno Devi University, Katra, 182320, India

* Corresponding Author: Divneet Singh Kapoor. Email: email

Intelligent Automation & Soft Computing 2023, 35(1), 795-810.


Navigation is an essential skill for robots. It becomes a cumbersome task for the robot in a human-populated environment, and Industry 5.0 is an emerging trend that focuses on the interaction between humans and robots. Robot behavior in a social setting is the key to human acceptance while ensuring human comfort and safety. With the advancement in robotics technology, the true use cases of robots in the tourism and hospitality industry are expanding in number. There are very few experimental studies focusing on how people perceive the navigation behavior of a delivery robot. A robotic platform named “PI” has been designed, which incorporates proximity and vision sensors. The robot utilizes a real-time object recognition algorithm based on the You Only Look Once (YOLO) algorithm to detect objects and humans during navigation. This study is aimed towards evaluating human experience, for which we conducted a study among 36 participants to explore the perceived social presence, role, and perception of a delivery robot exhibiting different behavior conditions while navigating in a hotel corridor. The participants’ responses were collected and compared for different behavior conditions demonstrated by the robot and results show that humans prefer an assistant role of a robot enabled with audio and visual aids exhibiting social behavior. Further, this study can be useful for developers to gain insight into the expected behavior of a delivery robot.


Cite This Article

APA Style
Singh, K.J., Kapoor, D.S., Abouhawwash, M., Al-Amri, J.F., Mahajan, S. et al. (2023). Behavior of delivery robot in human-robot collaborative spaces during navigation. Intelligent Automation & Soft Computing, 35(1), 795-810.
Vancouver Style
Singh KJ, Kapoor DS, Abouhawwash M, Al-Amri JF, Mahajan S, Pandit AK. Behavior of delivery robot in human-robot collaborative spaces during navigation. Intell Automat Soft Comput . 2023;35(1):795-810
IEEE Style
K.J. Singh, D.S. Kapoor, M. Abouhawwash, J.F. Al-Amri, S. Mahajan, and A.K. Pandit "Behavior of Delivery Robot in Human-Robot Collaborative Spaces During Navigation," Intell. Automat. Soft Comput. , vol. 35, no. 1, pp. 795-810. 2023.

cc This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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