This Smart and Connected Communities Integrative Research Grant (SCC-IRG) project supports research that aims to develop systems that help robots navigate public areas in a safe and socially acceptable manner. While robots have great potential to improve communities by providing services such as delivery, safety patrol, and sanitation, they are still limited in their ability to autonomously manage the complexities of real-world public walkways, which often feature sprawling obstacles, unmaintained sidewalks, and varying weather conditions.