Robots are becoming increasingly omnipresent in our daily lives, supporting us and carrying out autonomous tasks. In Human-Robot Interaction, human actors benefit from understanding the robot's motion intent to avoid task failures and foster collaboration. Finding effective ways to communicate this intent to users has recently received increased research interest. However, no common language has been established to systematize robot motion intent. This work presents a scoping review aimed at unifying existing knowledge. Based on our analysis, we present an intent communication model that depicts the relationship between robot and human through different intent dimensions (intent type, intent information, intent location). We discuss these different intent dimensions and their interrelationships with different kinds of robots and human roles. Throughout our analysis, we classify the existing research literature along our intent communication model, allowing us to identify key patterns and possible directions for future research.

翻译：机器人正日益融入我们的日常生活，为我们提供支持并执行自主任务。在人机交互中，人类参与者通过理解机器人的运动意图，能够避免任务失败并促进协作。近年来，寻找有效方式向用户传达这种意图已引起越来越多的研究关注。然而，目前尚未建立统一术语体系来系统化机器人的运动意图。本项范围综述旨在整合现有知识。基于我们的分析，我们提出一个意图传达模型，该模型通过不同意图维度（意图类型、意图信息、意图位置）描绘机器人与人类之间的关系。我们讨论了这些不同意图维度及其与不同种类机器人和人类角色之间的相互关系。在整个分析过程中，我们依据所提出的意图传达模型对现有研究文献进行分类，从而识别关键模式及未来研究的可能方向。