Alle Publikationen
2019
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(2019) : Adaptive Sampling for Human-aware Path Planning in Dynamic Environments: 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO): 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO): Dali, China: IEEE, S. 1987-1994
DOI: https://doi.org/10.1109/ROBIO49542.2019.8961811 Abstract: Nowadays, robots are increasingly used in densely populated dynamic environments. Robots not only need to complete the navigation tasks quickly, but also need to take into account the human trajectories and the constraints of social rules. In order to avoid the robot going into the crowed areas and improve robot acceptance in the crowded public environment, we propose a human-aware motion planning algorithm that is based on sampling method. Firstly, human will be annoyed and stressed if robots disturb them during operation. To alleviate this uncomfort brought by the robot, we use probabilistic representations to build the Human Domain Zone (HDZ) of individual or crowd behaviors. Besides, we propose a sampling strategy that is capable of biasing the sampling in the area where human feel comfortable or crowd is sparse. Moreover, we put forward an evaluation function to select the optimum trajectory. This function can avoid robot falling into the crowded area through VDM which is used to model the relationship between human and robot. The proposed approach is verified with extensive experiments in simulated environments. The results show that our method has the promising performance in crowded environment. It can also generate a smooth path with higher success rate
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(2019) : Seeing Like a Rover: Team Work and Human-Robot Relations: 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Daegu, Korea: IEEE
DOI: https://doi.org/10.1109/HRI.2019.8673224 Abstract: How do you work with a robot millions of miles away to make scientific discoveries on a planet you've never set foot on? Although much work in human-robot interaction describes the meaningful relationships that humans forge with their robots in one-on-one encounters, when robots venture into places where humans cannot go - in search and rescue operations, ocean voyages, or even into space - they do so as part of a large human team. Decisions about what the robot should do and where it should go are therefore the result of large group interactions instead of individual human cognition: the realm of organizational sociology. This talk draws on over a decade of ethnography with NASA's robotic spacecraft missions, specifically focusing on the Mars Exploration Rover mission. Going behind the scenes of the mission, I show the meaning-making, emotional connections, and embodied synergy that scientists develop as they work with their robots millions of miles away on a daily basis. This begins by learning to see through the robots' “eyes” on another planet, yet the peculiar social arrangement of mission work produces a deeper connection to the robot explorers too: one that is no doubt responsible for the extraordinary success and unexpected longevity of the mission team. Studying robotic spacecraft teams demonstrates how humans build a particular and peculiar empathy with their robotic colleagues that goes beyond anthropomorphism. Instead, this case points to the many and unusual ways in which organizations participate in our interactions with, understanding of, and ultimately care for the robots we work with in everyday life.
2018
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(2018) : Humanoid Robotic Head Teaching a Child with Autism: 2018 3rd International Conference on Circuits, Control, Communication and Computing (I4C): 2018 3rd International Conference on Circuits, Control, Communication and Computing (I4C): Bangalore, India: IEEE, S. 1-7
DOI: https://doi.org/10.1109/CIMCA.2018.8739603 Abstract: Autism is characterized by troubles with social interaction and communication. It influences how a person demonstrates and collaborates with others, conveys, and learns. Logical and Analytical learning and understanding for a child who is suffering from Autism is a challenging task when it is a robot achieving this application. This paper presents a Human Interaction Robot Head - that can teach the Autistic children to identify digits, alphabets, colours, and performs simple arithmetic operations using Convolution Neural Networks. The algorithms are ported to hardware boards and optimized to ensure synchronization between identification and robot movements for interaction.
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(2018) : Social Robot Selection: A Case Study in Education: 2018 26th International Conference on Software, Telecommunications and Computer Networks (SoftCOM): 2018 26th International Conference on Software, Telecommunications and Computer Networks (SoftCOM): Split, Croatia: IEEE, S. 1-4
DOI: https://doi.org/10.23919/SOFTCOM.2018.8555844 Abstract: In this paper the problem of selecting the appropriate social robot in education is being investigated for the first time. The social robot selection task is handled as a multi-criteria decision making problem and solved using the TOPSIS ranking method. Initially, a set of criteria is defined, based on the technical properties and human-interaction capabilities of the social robots. In a second stage some experts quantify a set of alternative social robots according to the predefined criteria and the robots are ranked by applying the TOPSIS method. The preliminary results are very promising and reveal the necessity of selecting the most suitable social robot subject to the educational needs and the technical requirements defined by the end user.
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(2018) : A robotic assistant to support the social and cognitive development of children from low-income families: 2018 IEEE Biennial Congress of Argentina (ARGENCON): 2018 IEEE Biennial Congress of Argentina (ARGENCON): San Miguel de Tucuman, Argentina: IEEE, S. 1-6
DOI: https://doi.org/10.1109/ARGENCON.2018.8646155 Abstract: According to latest estimates of the UNESCO, 38% of children leave primary school without learning how to read, write and do simple arithmetic operations. In the same way, approximately 124 million children and adolescents are denied opportunities to enter and complete school. In light of the above, in this paper, we present a robotic assistant aimed at supporting the development of social and cognitive skills in children of low-income families. This robotic assistant is part of the educational program "Sciences classroom for children" that is aimed at providing an educational and fun space where children can learn several concepts organized in 5 interactive ludic micro-worlds: electricity, magnetism, digital electronic, ecology, and robotic. To determine the real feasibility of the robotic assistant, we have conducted a pilot experiment with 68 children of low-income families, and the results achieved shows high levels of acceptation by children.
2017
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(2017) : Cognitive and robotic systems: Speeding up integration and results: 2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR): 2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR): Curitiba, PR, Brazil: IEEE, S. 1-6
DOI: https://doi.org/10.1109/SBR-LARS-R.2017.8215337 Abstract: Nowadays, state-of-the-art robots are capable of millimetric motion accuracy by performing highly repetitive tasks, however, as a constraint they operate in highly structured environments where objects are in known and predictable locations. Thus, it is not surprising that robots are more often used in high-volume operations such as painting and welding, rather than operations where diversity of actions, direct contact with humans, and variability of the environment meet fundamental requirements. Social robotics is an area of research that aims to make viable the direct interaction of robots with humans in unstructured environments. It uses several techniques, such as, machine learning, cognitive modeling, artificial intelligence, knowledge representation and ontology. One factor that compromises the rapid evolution of social robotics is the difficulty in modeling cognitive systems due to the volume and complexity of information produced by a chaotic world full of sensory information. In addition, the validation of results with the use of real environments involving buildings, streets and people presents a high cost of installation and maintenance. This article offers two strategies to speed up the evolution of social robotics. The first involves the definition of OntCog ontology that models the senses captured by the agent robotic sensors. This modeling facilitates the reproduction of experiments associated with cognitive models and the comparison among different implementations. The second is associated with the development of Robot House Simulator (RHS), which provides an environment where a robot and a human character can interact socially with increasing levels of cognitive processing. An unprecedented feature of this simulator is to provide information about all the senses of the robot, actually only the sense of vision or touch has been considered in the existing robotic simulators.
2016
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(2016) : Context-dependent social mapping: 2016 IEEE International Conference on Imaging Systems and Techniques (IST): 2016 IEEE International Conference on Imaging Systems and Techniques (IST): Chania, Greece: IEEE, S. 30-35
DOI: https://doi.org/10.1109/IST.2016.7738193 Abstract: Advanced robotics systems in human frequented environments need to be equipped with avant-garde capabilities, so as to attain a social behavior acceptable by their human proprietors. Therefore, robots should learn and react properly when they share a common domain with humans and adjust their operation according to the activity of the people around. This paper proposes a social mapping method which makes use of 3D maps, action recognition and proxemics theory. In particular, as it moves around, the robot builds a metric map of the surroundings and arranges it in topological graphs. Meanwhile, it can detect any individual existing nearby and capitalizes on a deep learning technique to recognize its action. The recognized actions form the context-dependent social zones which are registered with specific proxemics rules to determine the robot's navigational behavior. The proposed method was assessed with an indoors navigating robot, equipped with an RGB-D sensor. The human and action recognition units showed superior operation rendering the navigation module capable of planning trajectories for the robot to move around humans.
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(2016) : Social Modeling for Multi-agent Systems: 2016 International Conference on Collaboration Technologies and Systems (CTS): 2016 International Conference on Collaboration Technologies and Systems (CTS): Orlando, Florida, USA: IEEE
DOI: https://doi.org/10.1109/CTS.2016.0085 Abstract: Summary form only given. A key collaboration challenge is making complex ecosystems composed of robots, agents, and humans function together to achieve an overarching task. To do this requires both teamwork and mutual understanding between humans and software agents. As these systems scale up in size, effective data analytics and network science become critical towards understanding and guiding systems operation. My premise is that the same techniques that are useful for studying human social systems are also for studying these semi-artificial systems. In this talk I present two case studies of combining and analyzing human and agent systems in new and innovative ways.
2015
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(2015) : Human-driven multi-robot design process for social interactions with children on complex environments: 2015 6th International Conference on Automation, Robotics and Applications (ICARA): 2015 6th International Conference on Automation, Robotics and Applications (ICARA): Queenstown, New Zealand: IEEE, S. 70-76
DOI: https://doi.org/10.1109/ICARA.2015.7081127 Abstract: Robots have been traditionally in operation away from people, for instance in industrial environments. More recently, there has been a trend for bringing robots to market for helping people. In particular, children constitute a challenging group for robot interaction, due to their curiosity and energy, as well as safety concerns. This paper describes the construction process of an external structure for a fleet of mobile robots designed for interactions with children in a hospital environment. We address several challenges on the design process, critical for the robots to be able to operate safely, while interacting socially, among a group of children with specific needs.
2014
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(2014) : Design of affective robot-assisted activity for children with autism spectrum disorders: The 23rd IEEE International Symposium on Robot and Human Interactive Communication: Edinburgh, Scotland: IEEE, S. 365-370
DOI: https://doi.org/10.1109/ROMAN.2014.6926280 Abstract: Recent studies on autism spectrum disorders (ASD) have reported that positive emotions can be a good incentive for children with ASD to perform spontaneous positive social behaviors. Based on this findings, we propose an affective robot-assisted activity (ARAA) for fostering social interaction and communication skills among children with ASD by promoting their positive emotional responses through interaction with a robot. As it has been termed spectrum, every child has different social and affective characteristics that should be taken into account. However, due to difficulties in programming the robot's behavior, conventional RAA systems did not allow the therapist to customize the activity according to the characteristics of each individual. To tackle this problem, we developed a comprehensive framework of ARAA that consists of (i) a robot tele-operation method that allows a therapist to improvise a robot's behavior in real-time and (ii) a quantitative measurement method to describe social interaction within both behavioral and affective aspects.
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(2014) : A robotic platform for edutainment activities in a pediatric hospital: 2014 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC): 2014 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC): Espinho, Portugal: IEEE, S. 193-198
DOI: https://doi.org/10.1109/ICARSC.2014.6849785 Abstract: Social Robotics is a rapidly expanding field of research, but long-term results in real-world environments have been limited. The MOnarCH project has the goal of studying the long-term social dynamics of networked robot systems in human environments. In this paper, we present the MOnarCH robotic platform to the research community. We discuss the constraints involved in the design and operation of our social robots, and describe in detail the platform that has been built to accomodate the project goals while satisfying those restrictions. We also present some preliminary results of the navigation methodologies that are used to control the MOnarCH robotic platforms.
2013
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(2013) : Designing speech-based interfaces for telepresence robots for people with disabilities: 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR): 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR): Seattle, WA USA: IEEE, S. 1-8
DOI: https://doi.org/10.1109/ICORR.2013.6650399 Abstract: People with cognitive and/or motor impairments may benefit from using telepresence robots to engage in social activities. To date, these robots, their user interfaces, and their navigation behaviors have not been designed for operation by people with disabilities. We conducted an experiment in which participants (n=12) used a telepresence robot in a scavenger hunt task to determine how they would use speech to command the robot. Based upon the results, we present design guidelines for speech-based interfaces for telepresence robots.
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(2013): Designing and Implementing a Human–Robot Team for Social Interactions. In: IEEE Transactions on Systems, Man, and Cybernetics: Systems 43 (4), S. 843-859. DOI: 10.1109/TSMCA.2012.2216870
DOI: https://doi.org/10.1109/TSMCA.2012.2216870 Abstract: This study provides an in-depth analysis and practical solution to the problem of designing and implementing a human-robot team for simple conversational interactions. Models for operation timing, customer satisfaction and customer-robot interaction are presented, based on which a simulation tool is developed to estimate fan-out and robot team performance. Techniques for managing interaction flow and operator task assignment are introduced. In simulation, the effectiveness of different techniques and factors related to team performance are studied. A case study on deploying multiple robots in a shopping mall is then presented to demonstrate the usefulness of our study in helping the design and implementation of social robots in real-world settings.
2012
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(2012) : How to sustain long-term interaction between children and ROBOSEM in English class: 2012 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Boston, MA: IEEE
Abstract: According to studies confirming that robot assisted learning (RAL) can positively contribute to improving learners' motivation and achievement for language learning [1,4], RAL is facing its diffusion through the demand of parents and government. However, the biggest obstacle to the long-term interaction between humans and robots is the robots' low-success rate of visual and voice recognition, as well as the limitation of artificial intelligence for the daily-life HRI [3]. This study demonstrated ROBOSEM's ability to sustain long term interaction between children and a robot in an elementary English class from the pilot studies with IROBIQ, called Langbot [1]. Five factors are of concern in sustaining the long-term interaction between children and ROBOSEM, as shown in Figure 2: (1) enhancing the recognition ability of ROBOSEM with class materials, such as marker hats, bracelet watches embodied RFID tags, Wiimocon, etc; (2) sharing the birth story of ROBOSEM, which works to increase children's tolerance toward weak recognition from the result of [2]; (3) making a favorable impression, such as by flashing children's faces on the screen; (4) telling the history of a child's personal learning activities; and (5) tele-operation by the intelligence of a human being.
2011
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(2011) : Enhancing the robot service experience through social media: 2011 RO-MAN: 2011 RO-MAN: Georgia, USA: IEEE, S. 288-295
DOI: https://doi.org/10.1109/ROMAN.2011.6005256 Abstract: The development of effective robot servers has been an intensely studied research area for many years. Their operation in a dynamic environment presents multiple challenges in navigation, recognition, human-robot interaction, and manipulation. This paper addresses the challenges presented by recognition and human-robot interaction by utilizing Twitter and Facebook to potentially mitigate some of the long known issues in these areas. Specifically, we will address the problems of reliable human-robot communications and efficiency of service delivery. An online scenario study is administered to participants to evaluate the performance of a social media enabled robot as compared to a traditional speech synthesis and recognition enabled robot. The potential for the robot to learn and build long-term relationships through access to these social mediums is also discussed as a future work.
2010
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(2010) : Social cooperation analysis for multi-user cooperative tasks: 19th International Symposium in Robot and Human Interactive Communication: Viareggio, Italy: IEEE, S. 216-221
DOI: https://doi.org/10.1109/ROMAN.2010.5598623 Abstract: This paper addresses evaluation methods for social cooperation characteristics in cooperative tasks. Using these we found that the ratio of four typical indexes relate to task performance. Most of conventional human-machine systems assumed to assist only a single operator. In such cases, the system should only pay attention to his/her intention or operation characteristics. If there were multiple operators they also included social behaviours affected from others. Such behaviours could not be regarded by the one-on-one assist systems. Since intelligent assist systems are expected to apply in human society, the system requires work among humans. A challenge of our research is to quantify the human social characteristics, especially when relating to cooperation in the task involving multiple operators. In this paper, human social characteristics are quantified in order to evaluate cooperative performance. For the evaluations, ratio indexes by four kinds of behaviours are focused on. One is observation behaviour for other operator's work, which is typical social behaviour in a cooperative task. Second is the ratio of approaching to other robots for physical supporting. Third, total activity by summation of robot motion distance. Then, an index of visibility of robots each other. Finally, correlation between expansion of the index distribution and a task completion time is analyzed. Furthermore advanced assist using the evaluation is discussed.
2009
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(2009) : Non-facial and non-verbal affective expression in appearance-constrained robots for use in victim management: Robots to the rescue!: 2009 4th ACM/IEEE International Conference on Human-Robot Interaction (HRI): 2009 4th ACM/IEEE International Conference on Human-Robot Interaction (HRI): New York, NY, US: Association for Computing Machinery
DOI: https://doi.org/10.1145/1514095.1514130 Abstract: This video presents a visual summary of large-scale, complex human study in Human-Robot Interaction (HRI) designed to evaluate whether humans would view interactions with two non-anthropomorphic robots more positively and calming when the robots were operated in an emotive mode versus a standard, non-emotive mode. The video presents actual participants' reactions, the study design, and images from search and rescue operations.
2008
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(2008) : Simultaneous teleoperation of multiple social robots: 3rd ACM/IEEE International Conference on Human-Robot Interaction (HRI): New York, NY, US: Association for Computing Machinery, S. 311-318
DOI: https://doi.org/10.1145/1349822.1349863 Abstract: Teleoperation of multiple robots has been studied extensively for applications such as robot navigation; however, this concept has never been applied to the field of social robots. To explore the unique challenges posed by the remote operation of multiple social robots, we have implemented a system in which a single operator simultaneously controls up to four robots, all engaging in communication interactions with users. We present a user interface designed for operating a single robot while monitoring several others in the background, then we propose methods for characterizing task difficulty and introduce a technique for improving multiple-robot performance by reducing the number of conflicts between robots demanding the operator's attention. Finally, we demonstrate the success of our system in laboratory trials based on real-world interactions.
2007
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(2007) : Dental Patient Robot as a Mechanical Human Simulator: 2007 IEEE International Conference on Mechatronics: 2007 IEEE International Conference on Mechatronics: Changchun, Jilin, China: IEEE, S. 1-6
DOI: https://doi.org/10.1109/ICMECH.2007.4280065 Abstract: The aim of this research is the development of a patient robot for use in actual clinical training. Electro pneumatic regulators and electromagnetic valves incorporated in the robot is operated by manipulating air cylinders. It is possible to conduct training assuming several patients enabling trainees to learn a flexible response under a wide range of circumstances. A simple interface was used for ease of operation. Further, a built-in sensor inside the oral cavity responds to the trainee's actions leading to a vomiting reflex and pain during drilling teeth. Attaching the pain sensor to the body of test subjects, will also be useful for training social service workers during nursing care examinations.
2006
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(2006) : Design of an Office-Guide Robot for Social Interaction Studies: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems: Beijing: IEEE, S. 4965-4970
DOI: https://doi.org/10.1109/IROS.2006.282519 Abstract: In this paper, the design of an office-guide robot for social interaction studies is presented. We are interested in studying the impact of passage behaviours in casual encounters. While the system offers assistance in locating the appropriate office that a visitor wants to reach, it is expected to engage in a passing behaviour to allow free passage for other persons that it may encounter. Through use of such an approach it is possible to study the effect of social interaction in a situation that is much more natural than out-of-context user studies. The system has been tested in an early evaluation phase when it worked for almost 7 hours. A total of 64 interactions with people were registered and 13 passage behaviors were performed to conclude that this framework can be successfully used for the evaluation of passing behaviors in natural contexts of operation
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(2006) : BIRON, what's the topic? A Multi-Modal Topic Tracker for improved Human-Robot Interaction: ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication: ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human: Hatfield, UK: IEEE, S. 26-32
DOI: https://doi.org/10.1109/ROMAN.2006.314390 Abstract: Creating robots with extendable social skills and interaction capabilities that suffice their operation in the real world with naive users is a very challenging task. In this paper we present a new approach using topic tracking on multi-modal dialogue to provide a mobile robot with a higher level situation awareness in human-robot interaction. The robot is no longer operating in laboratory surroundings, but in its own real world flat. We describe how our topic tracking approach is implemented in this integrated system, operating on verbal speech input. Different modalities like data from video cameras and laser scans are used as additional cues to a semantic understanding and grouping of user utterances into different topics. Both the amount of topics and the according topic names are created dynamically. Evaluating an offline speech corpus demonstrates the suitability of our approach. It is now possible to ask "BIRON, what's the topic?", making the interaction more social
2005
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(2005) : Modeling of the emotional model with friendship for familiarity of robot: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems: Piscataway NJ: IEEE, S. 1235-1240
DOI: https://doi.org/10.1109/IROS.2005.1545342 Abstract: This paper deals with the emotional model of the software-robot. The software-robot requires several capabilities such as sensing, perceiving, acting, communicating, surviving and so on. There are already many studies about the emotional model like KISMET, AIBO. Though many emotional models are implemented, their human response architectures are invariant as time passes. Conventional emotional models make a robot like and obey a human during robot operation. This is natural for robots which are used in industrial, service and military areas but for pet robots this property lets robot look like real robots not real pets. Actually, a robot's emotional model is studied to implement robot intelligence more easily but emotion expression has to be exaggerated in a pet robot to make it interesting to humans. Pet robots must show dynamical emotion variations. The emotional model with the modified friendship is studied in this paper to overcome the conventional emotional model's limits to apply to pet robots. Friendship is distinguished as positive, negative and static schemes and an emotional model with the modified friendship is implemented and simulated on a software-robot.
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(2005) : Human-robot embodied interaction in hallway settings: a pilot user study: ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005: ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005: Nashville, TN, USA: IEEE, S. 164-171
DOI: https://doi.org/10.1109/ROMAN.2005.1513774 Abstract: This paper explores the problem of embodied interaction between a service robot and a person in a hallway setting. For operation in environments with people that have limited experience with robots, a behaviour that signals awareness of the persons and safety of motion is essential. A control strategy based on human spatial behaviour studies is presented that adopts human-robot interaction patterns similar to those used in person-person encounters. The results of a pilot study with human subjects are presented in which the users have evaluated the acceptability of the robot behaviour patterns during passage with respect to three basic parameters: the robot speed, the signaling distance at which the robot starts the maneuver and the lateral distance from the person for safe passage. The study has shown a good overall user response and has provided some useful indications on how to design a hallway passage behaviour that could be most acceptable to human users.
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(2005) : Person-friendly robot interaction: social, psychological and technological impacts in health care work: ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005: ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005: Nashville, TN, USA: IEEE, S. 643-648
DOI: https://doi.org/10.1109/ROMAN.2005.1513852 Abstract: This paper explores social, psychological and technological impacts of surgical robot applications in health care environments. The introduction of novel medical and surgical robot technologies is changing the practice of medicine. The aim is to analyze how technological, social and psychological factors mutually affect person-friendly robot interaction, including the major determinants of utility, usability, and acceptability. The empirical inquiry consists of a qualitative case study of professional clinicians in two medical departments that have been studied through interviews, observations and examination of written records. As the study shows, interfaces of surgical robots should harmonize to the characteristics of human users. The appropriate allocation of tasks and capabilities between the robot, the surgeon, assistant surgeons and other members in the operation team proves to be a dilemma. The design of separate approaches to the social and technical systems of HRI is not sufficient. Instead, the proper technology is the one that best fits the entire situation.
2003
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(2003) : Multi-robot human-interaction and visitor flow management: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422): 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422): Taipei, Taiwan: IEEE
DOI: https://doi.org/10.1109/ROBOT.2003.1241950 Abstract: In this paper we address the task of human-robot interaction in public mass exposition with several autonomous robots at a time. This implies questions regarding multi-robot control and interaction management with respect to social and commercial aspects of such an exposition. Multi-robot and interaction management is addressed with respect to visitor density and visitor flow. Human-robot interaction is modeled using the SOUL environment. We present and discuss results from the Swiss national exhibition Expo.02 in the time from 15.05.02 to 20.10.02, with over 10'000 hours of total robot operation time and more than 600'000 visitors.