  Socially aware robot navigation is gaining popularity with the increase in
delivery and assistive robots. The research is further fueled by a need for
socially aware navigation skills in autonomous vehicles to move safely and
appropriately in spaces shared with humans. Although most of these are ground
robots, drones are also entering the field. In this paper, we present a
literature survey of the works on socially aware robot navigation in the past
10 years. We propose four different faceted taxonomies to navigate the
literature and examine the field from four different perspectives. Through the
taxonomic review, we discuss the current research directions and the extending
scope of applications in various domains. Further, we put forward a list of
current research opportunities and present a discussion on possible future
challenges that are likely to emerge in the field.
