In this work we introduce a low-level system that could be employed by a social robot like a
robotic wheelchair or a humanoid, for approaching a group of interacting humans, in order to
become a part of the interaction. Taking into account an interaction space that is created
when at least two humans interact, a meeting point can be calculated where the robot
should reach in order to equitably share space among the interacting group. We propose a
sensor-based control task which uses the position and orientation of the humans with …