In recent years, we have conducted several Human-Robot Interaction (HRI) experiments with small groups of people. To do so, we developed four different protocols to investigate human spatial behavior or trust in robots. We now look back at these efforts and highlight the opportunities and challenges of each experimental method. We also describe various group phenomena that we observed during the interactions. By sharing our experience, we hope to inform the community of the lessons that we learned in HRI and emphasize the importance of studying group interactions to enable robots to operate in public human environments.
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