# How to Communicate Robot Motion Intent: A Scoping Review

arXiv: https://arxiv.org/abs/2303.00362 · HTML: https://mlsanity.com/paper/2303.00362/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Mar 2023.

## Built on by (most cited first, 8 of 8)

- [Deep Learning Approaches for Multimodal Intent Recognition: A Survey](https://mlsanity.com/paper/2507.22934/) (2025)
- [In Time and Space: Towards Usable Adaptive Control for Assistive Robotic Arms](https://mlsanity.com/paper/2307.02933/) (2023)
- [AdaptiX -- A Transitional XR Framework for Development and Evaluation of Shared Control Applications in Assistive Robotics](https://mlsanity.com/paper/2310.15887/) (2023)
- [Exploring Large Language Models to Facilitate Variable Autonomy for Human-Robot Teaming](https://mlsanity.com/paper/2312.07214/) (2023)
- [Exploring AI-enhanced Shared Control for an Assistive Robotic Arm](https://mlsanity.com/paper/2306.13509/) (2023)
- [Adaptive Control in Assistive Application -- A Study Evaluating Shared Control by Users with Limited Upper Limb Mobility](https://mlsanity.com/paper/2406.06103/) (2024)
- [Rude Humans and Vengeful Robots: Examining Human Perceptions of Robot Retaliatory Intentions in Professional Settings](https://mlsanity.com/paper/2503.16932/) (2025)
- [Extended Reality as a Mediation Layer for Situated Human Control in Human-Robot Teaming](https://mlsanity.com/paper/2607.25047/) (2026)

## Abstract (arXiv)

Robots are becoming increasingly omnipresent in our daily lives, supporting us and carrying out autonomous tasks. In Human-Robot Interaction, human actors benefit from understanding the robot's motion intent to avoid task failures and foster collaboration. Finding effective ways to communicate this intent to users has recently received increased research interest. However, no common language has been established to systematize robot motion intent. This work presents a scoping review aimed at unifying existing knowledge. Based on our analysis, we present an intent communication model that depicts the relationship between robot and human through different intent dimensions (intent type, intent information, intent location). We discuss these different intent dimensions and their interrelationships with different kinds of robots and human roles. Throughout our analysis, we classify the existing research literature along our intent communication model, allowing us to identify key patterns and possible directions for future research.