Robots come in many different flavors. Apart from industry robots that have dedicated tasks without human interference, service robots are being developed that need to operate together with people; e.g. museum
tour guides. As robotic systems are becoming increasingly autonomous, robots and humans will  require meaningful interactions to ensure efficiency and performance. A deeper understanding of how a robot can interact with humans in a socially acceptable way is still lacking. We argue that understanding human intentions and communicating a robot’s own intentions are necessary requirements for fluent and efficient human-robot interaction.