  With the increasing presence of social robots in various environments and
applications, there is an increasing need for these robots to exhibit
socially-compliant behaviors. Legible motion, characterized by the ability of a
robot to clearly and quickly convey intentions and goals to the individuals in
its vicinity, through its motion, holds significant importance in this context.
This will improve the overall user experience and acceptance of robots in human
environments. In this paper, we introduce a novel approach to incorporate
legibility into local motion planning for mobile robots. This can enable robots
to generate legible motions in real-time and dynamic environments. To
demonstrate the effectiveness of our proposed methodology, we also provide a
robotic stack designed for deploying legibility-aware motion planning in a
social robot, by integrating perception and localization components.
