Robot navigation in crowded public spaces is a complex task that requires addressing a variety of engineering and human factors challenges. These challenges have motivated a great amount of research resulting in important developments for the fields of robotics and human-robot interaction over the past three decades. Despite the significant progress and the massive recent interest, we observe a number of significant remaining challenges that prohibit the seamless deployment of autonomous robots in public pedestrian environments. In this survey article, we organize existing challenges into a set of categories related to broader open problems in motion planning, behavior design, and evaluation methodologies. Within these categories, we review past work, and offer directions for future research. Our work builds upon and extends earlier survey efforts by a) taking a critical perspective and diagnosing fundamental limitations of adopted practices in the field and b) offering constructive feedback and ideas that we aspire will drive research in the field over the coming decade.

翻译：在拥挤的公共空间进行机器人导航是一项复杂的任务,需要应对各种工程和人类因素的挑战。这些挑战促使进行了大量研究,在过去三十年中,机器人和人-机器人相互作用领域取得了重要发展。尽管取得了重大的进展和最近产生了巨大的兴趣,但我们注意到仍有许多重大挑战,禁止将自主机器人无缝地部署在公共行人环境中。在这份调查文章中,我们将现有挑战分为一系列与行动规划、行为设计和评价方法等更广泛的公开问题有关的类别。在这些类别中,我们审查了过去的工作,为今后的研究提供了方向。我们的工作以早期的调查工作为基础,并扩大了这些调查的范围,即:a) 以批判的视角,分析实地所采用的做法的基本局限性;b) 提供我们所期望的建设性反馈和想法,以推动未来十年的实地研究。