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Emotionally Modulated Time Perception for Prioritized Robot Assistance

This work aims at improving the global HRI experience in setups involving several humans interacting with a single service robot. This is accomplished by enabling the robot to (i) exploit information about the emotional state of individual humans (ii) predict how each human experiences the flow of time and (iii) serve with priority the persons under time pressure, after considering the expected completion time of the relevant tasks. An empirical study with humans competing to get robot assistance shows superior performance for our method in comparison to ordinary approaches.