Abstract
During the last 15 years, an increasing amount of works have investigated proactive robotic behavior in relation to Human-Robot Interaction (HRI). The works engage with a variety of research topics and technical challenges. In this paper a review of the related literature identified through a structured block search is performed. Variations in the corpus are investigated, and a definition of Proactive HRI is provided. Furthermore, a taxonomy is proposed based on the corpus and exemplified through specific works. Finally, a selection of noteworthy observations is discussed.
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