G. Alenyà, A. Négre, and J. L. Crowley, A comparison of three methods for measure of time to contact, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp.4565-4570, 2009.

P. Basili, M. Saglam, T. Kruse, M. Huber, A. Kirsch et al., Strategies of locomotor collision avoidance, Gait and Posture, vol.37, issue.3, 2013.
URL : https://hal.archives-ouvertes.fr/hal-01684297

S. Bhattacharya, Search-based path planning with homotopy class constraints, Int. Conf. on Artificial Intelligence (AAAI), 2010.

N. Bohórquez and P. Wieber, Adaptive step rotation in biped walking, Int. Conf. on Intelligent Robots and Systems, 2018.

D. Carton, W. Olszowy, and D. Wollherr, Measuring the effectiveness of readability for mobile robot locomotion, International Journal of Social Robotics, 2016.

U. Chattaraj, A. Seyfried, and P. Chakroborty, Comparison of pedestrian fundamental diagram across cultures, Advances in complex systems, vol.12, issue.03, pp.393-405, 2009.

D. Claes, D. Hennes, K. Tuyls, and W. Meeussen, Collision avoidance under bounded localization uncertainty, Int. Conf. on Intelligent Robots and Systems (RSS), 2012.

A. Cosgun, E. Sisbot, and H. Christensen, Anticipatory robot path planning in human environments, Int. Conf. on Robot and Human Interactive Communication (RO-MAN), 2016.

M. Costa, Interpersonal distances in group walking, Journal of Nonverbal Behavior, vol.34, issue.1, pp.15-26, 2010.

J. Crowley, Navigation for an intelligent mobile robot, IEEE Journal on Robotics and Automation, vol.1, issue.1, pp.31-41, 1985.

J. Cutting, P. Vishton, and P. Braren, How we avoid collisions with stationary and moving obstacles, vol.102, 1995.

V. Delsart and T. Fraichard, Navigating dynamic environments using trajectory deformation, Int. Conf. on Intelligent Robots and Systems, 2008.
URL : https://hal.archives-ouvertes.fr/inria-00293505

D. Dolgov, S. Thrun, M. Montemerlo, and J. Diebel, Path planning for autonomous vehicles in unknown semi-structured environments, Int. J. of Robotics Research, vol.29, issue.5, 2010.

S. Duane, A. Kennedy, B. Pendleton, and D. Roweth, Hybrid monte carlo, Physics letters B, vol.195, issue.2, pp.216-222, 1987.

P. Dunn and G. Smyth, Generalized linear models with examples in R, 2018.

T. Dutra, R. Marques, J. Cavalcante-neto, C. Vidal, and J. Pettré, Gradient-based steering for vision-based crowd simulation algorithms, Computer graphics forum, vol.36, issue.2, pp.337-348, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01653590

G. Ferrer and A. Sanfeliu, Behavior estimation for a complete framework for human motion prediction in crowded environments, Int. Conf. on Robotics and Automation (ICRA), 2014.

G. Ferrer and A. Sanfeliu, Proactive kinodynamic planning using the extended social force model and human motion prediction in urban environments, IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Chicago (UM), 2014.

G. Ferrer and A. Sanfeliu, Bayesian human motion intentionality prediction in urban environments, Pattern Recognition Letters, vol.44, pp.134-140, 2014.

G. Ferrer, A. Garrell, and A. Sanfeliu, Social-aware robot navigation in urban environments, European Conf. on Mobile Robots (ECMR), pp.331-336, 2013.

G. Ferrer, A. Garrell, and A. Sanfeliu, Robot companion: A social-force based approach with human awareness-navigation in crowded environments, Int. Conf. on Intelligent Robots and Systems, 2013.

P. Fiorini and Z. Shiller, Motion planning in dynamic environments using velocity obstacles, Int. J. of Robotics Research, vol.17, issue.7, pp.760-772, 1998.

M. Gérin-lajoie, C. Richards, and B. Mcfadyen, The negotiation of stationary and moving obstructions during walking: anticipatory locomotor adaptations and preservation of personal space, Motor control, vol.9, issue.3, pp.242-269, 2005.

M. Gerin-lajoie, C. Richards, J. Fung, and B. Mcfadyen, Characteristics of personal space during obstacle circumvention in physical and virtual environments, Gait and Posture, vol.27, issue.2, 2008.

J. Gibson, The ecological approach to visual perception: classic edition, 2014.

S. Gulati and B. Kuipers, High performance control for graceful motion of an intelligent wheelchair, Int. Conf. on Robotics and Automation, 2008.

E. Hall, The Hidden Dimension. Doubleday, 1982.

P. Hart, N. Nilsson, and B. Raphael, A formal basis for the heuristic determination of minimum cost paths, Transactions on Systems Science and Cybernetics, vol.4, issue.2, pp.100-107, 1968.

D. Hay, Following their companions as a form of exploration for human infants, Child development, pp.1624-1632, 1977.

L. Hayduk, The shape of personal space: An experimental investigation, Can. J. Behav. Sci, vol.13, issue.1, 1981.

D. Helbing and P. Molnár, Social force model for pedestrian dynamics, Physical Review E, vol.51, issue.5, 1995.

P. Henry, . Vollmer, D. Ferris, and . Fox, Learning to navigate through crowded environments, IEEE Int. Conf. Robot. Autom, 2010.

M. Huber, Y. Su, M. Kruger, K. Faschian, S. Glasauer et al., Adjustments of speed and path when avoiding collisions with another pedestrian, PLoS ONE, vol.9, issue.2, 2014.

A. Kendon, Conducting interaction: Patterns of behavior in focused encounters, CUP Archive, vol.7, 1990.

B. Kim and J. Pineau, Socially adaptive path planning in human environments using inverse reinforcement learning, Int. J. Soc. Robot, vol.8, issue.1, 2015.

A. Knorr, L. Willacker, J. Hermsdörfer, S. Glasauer, and M. Krüger, Influence of personand situation-specific characteristics on collision avoidance behavior in human locomotion. J. of experimental psychology: human perception and performance, vol.42, p.1332, 2016.

S. Koenig and M. Likhachev, Improved fast replanning for robot navigation in unknown terrain, Int. Conf. on Robotics and Automation, 2002.

K. Kolcaba, Holistic comfort: operationalizing the construct as a nurse-sensitive outcome, Advances in Nursing Science (ANS), vol.15, 1992.

D. Kraft, A software package for sequential quadratic programming. Forschungsbericht -Deutsche Forschungs, 1988.

D. Kraft, Algorithm 733: Tomp-fortran modules for optimal control calculations, Int. Trans. Math. Softw, vol.20, issue.3, pp.262-281, 1994.

H. Kretzschmar, M. Kuderer, and W. Burgard, Learning to predict trajectories of cooperatively navigating agents, Int. Conf. on Robotics and Automation, 2014.

H. Kretzschmar, M. Spies, C. Sprunk, and W. Burgard, Socially compliant mobile robot navigation via inverse reinforcement learning, Int. J. of Robotics Research, vol.35, issue.11, 2016.

H. Kretzschmar, M. Spies, C. Sprunk, and W. Burgard, Socially compliant mobile robot navigation via inverse reinforcement learning, Int. J. of Robotics Research, vol.35, issue.11, pp.1289-1307, 2016.

T. Kruse, A. Kirsch, E. Sisbot, and R. Alami, Exploiting human cooperation in humancentered robot navigation, IEEE Int. Work. Robot Hum. Interact. Commun. (RO-MAN), 2010.
URL : https://hal.archives-ouvertes.fr/hal-01405752

T. Kruse, P. Basili, S. Glasauer, and A. Kirsch, Legible robot navigation in the proximity of moving humans, IEEE Work, 2012.
URL : https://hal.archives-ouvertes.fr/hal-01571940

M. Kuderer, H. Kretzschmar, C. Sprunk, and W. Burgard, Feature-based prediction of trajectories for socially compliant navigation, Int. Conf. on Robotics: science and systems (RSS), 2012.

M. Kuderer, H. Kretzschmar, and W. Burgard, Teaching mobile robots to cooperatively navigate in populated environments, Int. Conf. in Intelligent Robots and Systems (IROS), 2013.

J. Kuffner and J. Latombe, Fast synthetic vision, memory, and learning models for virtual humans, Int. Conf. on Computer Animation. IEEE, 1999.

C. Lai and D. Arthur, Wandering behaviour in people with dementia, Journal of advanced nursing, vol.44, issue.2, pp.173-182, 2003.

S. Lavalle and J. Kuffner, Randomized kinodynamic planning, Int. J. of Robotics Research, vol.20, issue.5, pp.378-400, 2001.

C. Lichtenthaler, T. Lorenzy, and A. Kirsch, Influence of legibility on perceived safety in a virtual human-robot path crossing task, IEEE Int, 2012.
URL : https://hal.archives-ouvertes.fr/hal-01571944

F. Lindner and C. Eschenbach, Towards a formalization of social spaces for socially aware robots, Spatial Information Theory, 2011.

F. Lindner and C. Eschenbach, Affordance-based activity placement in human-robot shared environments, Int. Conf. on Social Robotics, 2013.

H. Madsen and P. Thyregod, Introduction to general and generalized linear models, 2010.

J. Maisonnasse, N. Gourier, O. Brdiczka, and P. Reignier, Attentional model for perceiving social context in intelligent environments, Int. Conf. on Artificial Intelligence Applications and Innovations, pp.171-178, 2006.

M. Moussaïd, D. Helbing, S. Garnier, A. Johansson, M. Combe et al., Experimental study of the behavioural mechanisms underlying self-organization in human crowds, Proc. of the Royal Society B: Biological Sciences, vol.276, 1668.

M. Moussaïd, D. Helbing, and G. Theraulaz, How simple rules determine pedestrian behavior and crowd disasters, Proceedings of the National Academy of Sciences of the United States of America, 2011.

J. Nelder and R. Wedderburn, Generalized linear models, Int. J. of the Royal Statistical Society: Series A (General), vol.135, issue.3, pp.370-384, 1972.

A. Ng and S. Russell, Algorithms for inverse reinforcement learning, In Int. Conf. Mach. Learn, 2000.

A. Olivier, A. Marin, A. Crétual, and J. Pettré, Minimal predicted distance: A common metric for collision avoidance during pairwise interactions between walkers, Gait and Posture, vol.36, issue.3, 2012.
URL : https://hal.archives-ouvertes.fr/hal-00759480

A. Olivier, A. Marin, A. Crétual, A. Berthoz, and J. Pettré, Collision avoidance between two walkers: Role-dependent strategies, Gait and Posture, vol.38, issue.4, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00821854

J. Ondrej, J. Pettré, A. Olivier, and S. Donikian, A synthetic-vision based steering approach for crowd simulation, ACM Trans. Graph, vol.29, issue.4, 2010.
URL : https://hal.archives-ouvertes.fr/inria-00539572

E. Pacchierotti, H. Christensen, and P. Jensfelt, Evaluation of passing distance for social robots, IEEE Int. Work. Robot Hum. Interact. Commun, 2006.

R. Paulin, T. Fraichard, and P. Reignier, Using human attention to address human-robot motion, Int. J. on Robotics and Automation Letters, pp.2019-2025, 2019.
URL : https://hal.archives-ouvertes.fr/hal-02013578

M. Quigley, K. Conley, B. Gerkey, J. Faust, T. Foote et al., Ros: an open-source robot operating system, IEEE Int. Conf. on Robotics and Automation, 2009.

S. Quinlan and O. Khatib, Elastic bands: Connecting path planning and control, Int. Conf. on Robotics and Automation, pp.802-807, 1993.

N. Rakotoarivelo, J. Auberlet, and R. Brémond, Heterogeneous pedestrians behaviors through asymmetrical interaction, Int. Conf. on Computer Animation and Social Agents, pp.25-28, 2019.

H. Ralston, Energy-speed relation and optimal speed during level walking. Int. Magazine für, Angewandte Physiologie Einschliesslich Arbeitsphysiologie, vol.17, issue.4, pp.277-283, 1958.

M. Riedmiller and H. Braun, A direct adaptive method for faster backpropagation learning: The rprop algorithm, Int. Conf. on neural networks, 1993.

J. Rios-martinez, A. Escobedo, A. Spalanzani, and C. Laugier, Intention driven human aware navigation for assisted mobility, Work. Assist. Serv. Robot. in a Hum. Environ., Int. Conf. Intell. Robot. Syst. (IROS), 2012.
URL : https://hal.archives-ouvertes.fr/hal-00757133

J. Rios-martinez, A. Spalanzani, and C. Laugier, From proxemics theory to socially-aware navigation: A survey, Int. J. Soc. Robot, vol.7, issue.2, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01067278

M. Seder and I. Petrovic, Dynamic window based approach to mobile robot motion control in the presence of moving obstacles, Int. Conf. on Robotics and Automation, 2007.

M. Shiomi, F. Zanlungo, K. Hayashi, and T. Kanda, Towards a socially acceptable collision avoidance for a mobile robot navigating among pedestrians using a pedestrian model, Int. J. Soc. Robot, vol.6, issue.3, 2014.

G. Silva and T. Fraichard, Human robot motion: A shared effort approach, European Conference on Mobile Robots (ECMR), pp.1-6, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01565873

G. Silva, A. Olivier, A. Cretual, J. Pettre, and T. Fraichard, Human inspired effort distribution during collision avoidance in human-robot motion, Int. Conf. on Robot and Human Interactive Communication, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01831757

G. Silva, A. Olivier, A. Cretual, J. Pettre, and T. Fraichard, Effective Human-Robot Collaboration in near symmetry collision scenarios, Int. Conf. on Robot and Human Interactive Communication (RO-MAN), 2019.
URL : https://hal.archives-ouvertes.fr/hal-02267705

E. Sisbot, K. Marin-urias, R. Alami, and T. Siméon, A human aware mobile robot motion planner, IEEE Trans. Robot, vol.23, issue.5, 2007.
URL : https://hal.archives-ouvertes.fr/hal-01857545

B. Steffen, A modification of the social force model by foresight, Pedestrian and Evacuation Dynamics, 2010.

L. Takayama and C. Pantofaru, Influences on proxemic behaviors in human-robot interaction, IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS), 2009.

E. Torta, R. Cuijpers, J. F. Juola, and D. Van-der-pol, Design of robust robotic proxemic behaviour, Int. J. Soc. Robot, vol.7072, 2011.

P. Trautman and A. Krause, Unfreezing the robot: Navigation in dense, interacting crowds, Int. Conf. on Intelligent Robots and Systems, 2010.

R. , A socially aware service robot for passenger guidance and help in busy airports, Conf. F. Serv. Robot. (FSR), 2015.

L. Vallis and B. Mcfadyen, Children use different anticipatory control strategies than adults to circumvent an obstacle in the travel path, Experimental brain research, vol.167, issue.1, pp.119-127, 2005.

B. Van-basten, S. Jansen, and I. Karamouzas, Exploiting motion capture to enhance avoidance behaviour in games, Int. Workshop on Motion in Games, pp.29-40, 2009.

J. Van-den, M. Berg, D. Lin, and . Manocha, Reciprocal velocity obstacles for real-time multi-agent navigation, IEEE Int. Conf. on Robotics and Automation, 2008.

J. Van-den, S. Berg, M. Guy, D. Lin, and . Manocha, Reciprocal n-Body Collision Avoidance, 2011.

,. Vassallo, P. Olivier, A. Souéres, O. Crétual, J. Stasse et al., How do walkers avoid a mobile robot crossing their way?, Gait & posture, vol.51, pp.97-103, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01371202

,. Vassallo, P. Olivier, A. Souères, O. Crétual, J. Stasse et al., How do walkers behave when crossing the way of a mobile robot that replicates human interaction rules?, Gait & posture, vol.60, pp.188-193, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01717722

M. Wagner, K. Bringmann, T. Friedrich, and F. Neumann, Efficient optimization of many objectives by approximation-guided evolution, European J. of Operational Research, vol.243, issue.2, pp.465-479, 2015.

M. Walters, M. Oskoei, D. Syrdal, and K. Dautenhahn, A long-term human-robot proxemic study, IEEE Int. Work. Robot Hum. Interact. Commun, 2011.

, World medical association declaration of helsinki, 2019.

. Wolfram and . Wolfram, , pp.2019-2029, 2019.

F. Zanlungo, T. Ikeda, and T. Kanda, Social force model with explicit collision prediction, Europhysics Letters), 2011.

M. Zarrugh, F. Todd, and H. Ralston, Optimization of energy expenditure during level walking, European journal of applied physiology and occupational physiology, vol.33, issue.4, pp.293-306, 1974.

B. Ziebart, N. Ratliff, G. Gallagher, C. Mertz, K. Peterson et al., Planning-based prediction for pedestrians, IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS), 2009.

T. Fraichard and H. Asama, Inevitable collision states-a step towards safer robots?, Advanced Robotics, vol.18, issue.10, pp.1001-1024
URL : https://hal.archives-ouvertes.fr/inria-00182082

F. Lindner, C. Eschenbach, ;. Lichtenthaler, T. Lorenzy, and A. Kirsch, Influence of legibility on perceived safety in a virtual human-robot path crossing task, IEEE Int. Work. Robot Hum. Interact. Commun

P. Henry, C. Vollmer, B. Ferris, and D. Fox, Learning to navigate through crowded environments, IEEE Int. Conf. Robot. Autom

P. Basili, M. Saglam, T. Kruse, M. Huber, A. Kirsch et al., Strategies of locomotor collision avoidance, Gait and Posture, vol.37, issue.3
URL : https://hal.archives-ouvertes.fr/hal-01684297

D. Carton, W. Olszowy, and D. Wollherr, Measuring the effectiveness of readability for mobile robot locomotion, International Journal of Social Robotics

B. Ziebart, N. Ratliff, G. Gallagher, C. Mertz, K. Peterson et al., Planning-based prediction for pedestrians, IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS)

A. Olivier, A. Marin, A. Crétual, A. Berthoz, and J. Pettré, Collision avoidance between two walkers: Role-dependent strategies, Gait and Posture, vol.38, issue.4
URL : https://hal.archives-ouvertes.fr/hal-00821854

M. Huber, Y. Su, M. Kruger, K. Faschian, S. Glasauer et al., Adjustments of speed and path when avoiding collisions with another pedestrian, PLoS ONE, vol.9, issue.2

S. Jansen, A. Toet, and P. Werkhoven, Human locomotion through a multiple obstacle environment: Strategy changes as a result of visual field limthrough, Experimental Brain Research, vol.212, issue.3, pp.449-456

D. Helbing and P. Molnár, Social force model for pedestrian dynamics, Physical Review E, vol.51, issue.5

J. Van-den, S. Berg, M. Guy, D. Lin, and . Manocha, Reciprocal n-Body Collision Avoidance, 2011.

R. Sutton and A. Barto, Reinforcement Learning: An introduction

T. Hester and P. Stone, Texplore: real-time sample-efficient reinforcement learning for robots, Machine Learning, vol.90, issue.3, pp.385-429

E. Sisbot, K. Marin-urias, R. Alami, and T. Siméon, A human aware mobile robot motion planner, IEEE Trans. Robot, vol.23, issue.5
URL : https://hal.archives-ouvertes.fr/hal-01857545

J. Rios-martinez, A. Spalanzani, and C. Laugier, Understanding human interaction for probabilistic autonomous navigation using riskrrt approach, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2011.
URL : https://hal.archives-ouvertes.fr/inria-00633896

Y. Morales, A. Watanabe, F. Ferreri, T. Even, J. Ikeda et al., Including human factors for planning comfortable paths, IEEE Int. Conf. Robot. Autom

R. Narain, A. Golas, S. Curtis, and M. Lin, Aggregate dynamics for dense crowd simulation, ACM Transactions on Graphics (TOG), vol.28, issue.5, 2009.

A. Bera and D. Manocha, Realtime multilevel crowd tracking using reciprocal velocity obstacles, Int. Conf. on Pattern Recognition (ICPR), 2014.

S. M. Lavalle, Planning algorithms
URL : https://hal.archives-ouvertes.fr/hal-01993243

K. Mombaur, A. Truong, and J. Laumond, From human to humanoid locomotion-an inverse optimal control approach, Autonomous Robots, vol.28, issue.3, pp.369-383

J. Cutting, P. Vishton, and P. Braren, How we avoid collisions with stationary and moving obstacles, American Psychological Association, vol.102, issue.4, pp.627-651

D. Marigold, V. Weerdesteyn, A. Patla, and J. Duysens, Keep looking ahead? re-direction of visual fixation does not always occur during an unpredictable obstacle avoidance task, Experimental Brain Research, vol.176, issue.1, pp.32-42

J. Sardegna, S. Shelly, and S. Steidl, The encyclopedia of blindness and vision impairment

P. Dierckx, Curve and surface fitting with splines