Defining Adaptive Proxemic Zones for Activity-aware Navigation Jonatan Gin´ es Clavero 1 , Francisco Mart´ ın Rico 2 Francisco J. Rodr´ ıguez-Lera 3 , Jos´ e Miguel Guerrero Hern´ andez 2 , and Vicente Matell´an Olivera 4 1 Escuela Internacional de Doctorado - Rey Juan Carlos University (Spain). j.gines@alumnos.urjc.es 2 Intelligent Robotics Lab, Rey Juan Carlos University (Spain). 3 Escuela de Ingenier´ ıas Industrial e Inform´ atica, Universidad de Le´ on (Spain). 4 Supercomputaci´ on Castilla y Le´ on, SCAYLE, Le´on (Spain) Abstract. Many of the tasks that a service robot can perform at home involve navigation skills. In a real world scenario, the navigation system should consider individuals beyond just objects, theses days it is nec- essary to offer particular and dynamic representation in the scenario in order to enhance the HRI experience. In this paper, we use the proxemic theory to do this representation. The proxemic zones are not static. The culture or the context influences them and, if we have this influence into account, we can increase humans’ comfort. Moreover, there are collabo- rative tasks in which these zones take different shapes to allow the task’s best performance. This research develops a layer, the social layer, to represent and distribute the proxemics zones’ information in a standard way, through a cost map and using it to perform a social navigate task. We have evaluated these components in a simulated scenario, performing different collaborative and human-robot interaction tasks and reducing the personal area invasion in a 32%. The material developed during this research can be found in a public repository 1 , as well as instructions to facilitate the reproducibility of the results. Keywords: social robot, social navigation, proxemics, activity-aware, collaborative navigation 1 Introduction A human sharing his home with a robot is getting closer every day and is start- ing to stop being a science-fiction movie thing. So far, domestic robots have a particular purpose, like the vacuum cleaner, but it is expected that in the coming years, these types of robots will have a general-purpose and will be able to solve everyday tasks, as well as naturally interact with humans. It requires robots to treat humans in a special way, as they will share space and tasks with them. Humans are letting be another obstacle that robots have to avoid, for example, during navigation. More and more research is being done on social navigation. 1 https://github.com/IntelligentRoboticsLabs/social navigation2 WAF arXiv:2009.04770v1 [cs.RO] 10 Sep 2020