How may I serve you?: a robot companion approaching a seated person in a helping context

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From Proxemics Theory to Socially-Aware Navigation: A Survey (2014, background): “In experiments done by [19], participants to which a robot has to bring an object, perceive the robot motion threatening and aggressive when the robot uses a direct frontal approach.”
How to approach humans?-strategies for social robots to initiate interaction (2009, background): “studied the comfortable direction of an approach [15] as well as the distance to talk [21].”
Human-aware task planning for mobile robots (2009, background): “As many researchers have already pointed out, the presence of humans introduces other challenges besides how the robots should interact with them [8], [6].”
Artificial cognition for social human-robot interaction: An implementation (2017, background): “It eventually proves to be an effective framework for novel contributions about human-robot joint action [12, 13, 14], as well as for multi-disciplinary studies [15, 16, 17, 18, 19, 20].”
Human-aware robot navigation: A survey (2013, background): “Comfortable motion is currently mostly implemented as making the robot prefer additional distances on top of safety distances.”
A Human Aware Mobile Robot Motion Planner (2007, methodology): “In this paper, we present in detail a Human Aware Motion Planner (HAMP) and its implementation with simulation and real world results.”