Waymarking in social robots: Environment signaling using human-robot interaction Articles uri icon

publication date

  • December 2021

start page

  • 8145

end page

  • 8171


  • 23


  • 21

International Standard Serial Number (ISSN)

  • 1424-3210

Electronic International Standard Serial Number (EISSN)

  • 1424-8220


  • Travellers use the term waymarking to define the action of posting signs, or waymarks, along a route. These marks are intended to be points of reference during navigation for the environ-ment. In this research, we will define waymarking as the skill of a robot to signal the environment or generate information to facilitate localization and navigation, both for its own use and for other robots as well. We present an automated environment signaling system using human┬┐robot interaction and radio frequency identification (RFID) technology. The goal is for the robot, through human┬┐robot interaction, to obtain information from the environment and use this information to carry out the signaling or waymarking process. HRI will play a key role in the signaling process since this type of communication makes it possible to exchange more specific and enriching information. The robot uses common phrases such as 'Where am I?' and 'Where can I go?', just as we humans do when we ask other people for information about the environment. It is also possible to guide the robot and 'show' it the environment to carry out the task of writing the signs. The robot will use the information received to create, update, or improve the navigation data in the RFID signals. In this paper, the signaling process will be described, how the robot acquires the information for signals, writing and updating process and finally, the implementation and integration in a real social robot in a real indoor environment.


  • Robotics and Industrial Informatics


  • human-robot interaction; indoor; navigation; radio frequency identification; rfid; signaling; social robots; topological; wayfinding; waymarking