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. 2019 Nov 27;19(23):5189. doi: 10.3390/s19235189
Algorithm 1 Proxemic zones to local cost map.
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    while robot_navigates do

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        list People detected_people = get_detect_people_with_mood()

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        for all pi ∈ detected_people do

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            Float covar = get_covar_from_mood(pi.mood)

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            Cell person_cell = worldToMap(pi.position.x, pi.position.y)

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            setPersonalZone(local_costmap, person_cell, covar)

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        end for

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    end while