Trouble-based group dynamics in real-world HRI — Reactions on unexpected next moves of a museum guide robot

On the basis of a videocorpus of human-robot-interactions in a museum guide scenario and with a combined approach of qualitative case analysis and quantitative evaluation we examine two research questions: (1) What type of group dynamics result from a robot's unexpected next move - especially focussing on gaze patterns? (2) What should a robot detect when searching for trouble events and how should it identify patterns of visitor behavior that are related to the robots actions? Systematically studying opening sequences, we extract structural gaze patterns out of two cases considered from an interactional linguistics perspective as well as keeping in mind a system's capabilities of perception.