As intelligent agents transition from controlled to uncontrolled environments, they face challenges that sometimes exceed their operational capabilities. In many scenarios, they rely on assistance from bystanders to overcome those challenges. Using robots that get stuck in urban settings as an example, we investigate how agents can prompt bystanders into providing assistance. We conducted four focus group sessions with 17 participants that involved bodystorming, where participants assumed the role of robots and bystander pedestrians in role-playing activities. Generating insights from both assumed robot and bystander perspectives, we were able to identify potential non-verbal help-seeking strategies (i.e., addressing bystanders, cueing intentions, and displaying emotions) and factors shaping the assistive behaviours of bystanders. Drawing on these findings, we offer design considerations for help-seeking urban robots and other agents operating in uncontrolled environments to foster casual collaboration, encompass expressiveness, align with agent social categories, and curate appropriate incentives.
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