I. Introduction
As mobile robots become more common in society their novelty and entertainment value will reduce, thus creating new challenges for robot navigation. Currently, independent robot travel produces unnatural crowd dynamics. Bystanders unfamiliar with robots are usually careful, suspicious, and concerned for their safety, thereby creating large spaces for robots to move through. Similarly, inappropriate or rude behavior by the robot is tolerated due to novelty. Asocial methods like linear “robotic” travel are usually effective but create a nuisance, leading to resentment and sometimes undesirable contact and malicious actions by nearby humans (e.g., [1]). Therefore, robots will soon need to travel in crowds in more socially appropriate methods.