The "Last Mile Challenge" has long been considered an important, yet unsolved, challenge for autonomous vehicles, public service robots, and delivery robots. A central issue in this challenge is the ability of robots to navigate constrained and cluttered environments that have high agency (e.g., doorways, hallways, corridor intersections), often while competing for space with other robots and humans. We refer to these environments as "Social Mini-Games" (SMGs). Traditional navigation approaches designed for MRN do not perform well in SMGs, which has led to focused research on dedicated SMG solvers. However, publications on SMG navigation research make different assumptions, and have different objective functions (safety versus liveness). These assumptions and objectives are sometimes implicitly assumed or described informally. This makes it difficult to establish appropriate baselines for comparison in research papers, as well as making it difficult for practitioners to find the papers relevant to their concrete application. Such ad-hoc representation of the field also presents a barrier to new researchers wanting to start research in this area. SMG navigation research requires its own taxonomy, definitions, and evaluation protocols to guide effective research moving forward. This survey is the first to catalog SMG solvers using a well-defined and unified taxonomy and to classify existing methods accordingly. It also discusses the essential properties of SMG solvers, defines what SMGs are and how they appear in practice, outlines how to evaluate SMG solvers, and highlights the differences between SMG solvers and general navigation systems. The survey concludes with an overview of future directions and open challenges in the field. Our project is open-sourced at https://socialminigames.github.io/{https://socialminigames.github.io/.

翻译：长期以来，“最后一英里挑战”一直被视为自动驾驶车辆、公共服务机器人和配送机器人领域一个重要但尚未解决的难题。该挑战的核心在于机器人能够在具有高度能动性的受限且杂乱环境中（例如门口、走廊、交叉路口）进行导航，且常需与其他机器人和人类竞争空间。我们将此类环境称为“社交微游戏”。传统为多机器人导航设计的导航方法在社交微游戏中表现不佳，这促使了针对专用社交微游戏求解器的集中研究。然而，关于社交微游戏导航研究的文献采用了不同的假设，并设定了不同的目标函数（安全性优先还是活性优先）。这些假设和目标有时被隐含假定或非正式描述。这使得在研究论文中难以建立合适的比较基准，同时也使从业者难以找到与其具体应用相关的文献。该领域这种临时性的表述方式也为希望开展相关研究的新学者设置了障碍。社交微游戏导航研究需要其自身的分类体系、定义和评估协议，以指导未来的有效研究。本综述首次使用明确定义且统一的分类法对社交微游戏求解器进行编目，并据此对现有方法进行分类。它还讨论了社交微游戏求解器的基本特性，定义了社交微游戏及其在实践中的表现形式，概述了如何评估社交微游戏求解器，并强调了社交微游戏求解器与通用导航系统之间的差异。综述最后概述了该领域的未来方向和开放挑战。我们的项目已在 https://socialminigames.github.io/ 开源。