  Mobile service robots have become increasingly ubiquitous. However, these
robots can pose potential accessibility issues and safety concerns to people
with visual impairments (PVI). We sought to explore the challenges faced by PVI
around mainstream mobile service robots and identify their needs. Seventeen PVI
were interviewed about their experiences with three emerging robots: vacuum
robots, delivery robots, and drones. We comprehensively investigated PVI's
robot experiences by considering their different roles around robots -- direct
users and bystanders. Our study highlighted participants' challenges and
concerns about the accessibility, safety, and privacy issues around mobile
service robots. We found that the lack of accessible feedback made it difficult
for PVI to precisely control, locate, and track the status of the robots.
Moreover, encountering mobile robots as bystanders confused and even scared the
participants, presenting safety and privacy barriers. We further distilled
design considerations for more accessible and safe robots for PVI.
