The problem was that our floor scrubber robots were behaving erratically, approaching shoppers too fast and their intent was unknown. The first thing we did was revive a shelved feature that could scan and detect the presence of a human. Now we could apply different behavior algorithms to the robot's approch and behaviour around people. Only we went too far, to the point of annoying shoppers, now the robot was too timid and would not just go when expected: