Socially acceptable navigation is a subject that involves developments regarding Human-Robot Interaction (HRI) and autonomous mobile robot navigation. In this context, there is little research considering people interacting with a robot team, and even fewer considering multi-robot teams with people. In this paper, a study on socially acceptable navigation involving a human and a robot team is presented. Four navigation strategies that consider social aspects are presented and compared in simulated environment by terms as the average number of robots invading the personal space and the number of robots to the person’s side, with two of them using Asymmetric Gaussian Functions (AGFs) as the person’s social zone model; a navigation perception comparison is made involving people to investigate their view on navigating with three robots in contrast to a single robot. Simulated and real-world experiments were performed showing that the proposed methods have advantages over each other on different aspects. The follow-up techniques for interaction between humans and a team of robots suggest that people’s perception may not be affected significantly when interacting with more than one robot.

社会上可接受的导航是一个涉及人机交互（HRI）和自主移动机器人导航发展的主题。在这种情况下，很少有人考虑与人与机器人团队进行交互，而很少有人考虑与人为多机器人团队。在本文中，提出了一项涉及人类和机器人团队的社交可接受导航的研究。提出了四种考虑社会方面的导航策略，并在模拟环境中按术语进行了比较，它们是侵入个人空间的平均机器人数量和到达人身的机器人数量，其中两个使用非对称高斯函数（AGF）作为人的行为。社会区模型；进行了导航感知比较，涉及人们调查他们对使用三个机器人而不是单个机器人进行导航的看法。进行了仿真和实际实验，结果表明所提出的方法在不同方面都具有优势。人类和一组机器人之间的交互后续技术表明，与多个机器人交互时，人们的感知可能不会受到明显影响。