Human-escorting experiments in a warehouse with multiple persons

Human-robot interaction remains a significant challenge for mobile robots performing as social robots, which are expected to coexist, collaborate, and be cognitive with persons to enhance efficiency and reduce labor strength. Typically, escort robots can be widely employed for accompanying elderly and youth outdoors, guiding visitors in exhibition halls and museums, and sorting goods in warehouses.In this dataset, the trajectories of the robot, the trajectories of the robot, the target, and four volunteers playing the role of dynamic obstacles were recorded by a VICON motion capture system. The position and attitude of the robot and the target are recorded in real time by the wireless electromagnetic (WEM).The color information of obstacles and targets is recorded by the first view of the camera mounted on the robot.