The distance at which a mobile robot reacts to a person strongly impacts various qualities of the human-robot interaction. In this paper, we focus on the navigation of a mobile delivery robot platform in a residential indoor hallway environment. Social navigation methods typically focus on avoiding uncomfortable human-robot interactions, such as when a robot encroaches on someone's personal space. Since personal space has been shown to be in the range of just a few meters, social navigation methods typically focus on deconflicting and resolving these short-range interactions. In this work, however, we demonstrate that by extending the reaction distance to over eight meters, far beyond the typical interaction distance, we can improve the human's perception of the robot's motion. We introduce the Proactive Lane-Changing (PLC) motion pattern and a navigation system that leverages it to react to people at an increased distance. This pattern consists of changing the robot's lateral position as it navigates down the hallway from the center to the side at an eight-meter distance from an oncoming person. We conducted a user study with 42 participants to assess their impressions of the delivery robot based on three service objectives: safety, smoothness, and politeness. In the straight hallway scenario (Frontal Approach), results showed significant improvement in each of these three objectives compared to typical motion patterns found in the literature: slowing down, stopping, and reactive collision avoidance in the proximity of a person. In contrast, in the intersection (Blind Corner) scenarios, none of the approaches performed significantly better than any other, with participants having a diverse range of preferences among robot motion patterns.

In recent years, with growing demands towards big data application, various research on context-awareness has once again become active. This paper proposes a new type of context-aware user authentication that controls the authentication level of users, using the context of “physical trust relationship” that is built between users by visual contact. In our proposal, the authentication control is carried out by two mechanisms; “i-Contact” and “k-Contact”. i-Contact is the mechanism that visually confirms the user (owner of a mobile device) using the surrounding users' eyes. The authenticity of users can be reliably assessed by the people (witnesses), even when the user exhibits ambiguous behavior. k-Contact is the mechanism that dynamically changes the authentication level of each user using the context information collected through i-Contact. Once a user is authenticated by eyewitness reports, the user is no longer prompted for a password to unlock his/her mobile device and/or to access confidential resources. Thus, by leveraging the proposed authentication system, the usability for only trusted users can be securely enhanced. At the same time, our proposal anticipates the promotion of physical social communication as face-to-face communication between users is triggered by the proposed authentication system.