A kinematic model generates non-circular human proxemics zones

Hall's theory of proxemics established distinct spatial zones around humans where they experience comfort or discomfort when interacting with others. Our previous work proposed a new model of proxemics and trust and it showed how to generate proxemics zone sizes using simple equations from human kinematic behaviour. But like most work, this assumed that the zones are circular. In this paper, we refine this model to take the initial heading of the agent into account and find that this results in a non-circular outer boundary of the social zone. These new analytical results from a generative model form a step towards more advanced quantitative proxemics in dual agents' interaction modelling. © 2023 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group and The Robotics Society of Japan.