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Approaching a group of humans is an important navigation task. Although many methods have been proposed to avoid interrupting groups of people engaged in a conversation, just a few works have considered the proper way of joining those groups. Research in the field of social sciences have proposed geometric models to compute the best points to join a group. In this article we propose a method to use those points as possible destinations when driving a robotic wheelchair. Those points aredoi:10.1109/iros.2014.6943021 dblp:conf/iros/EscobedoSL14 fatcat:jjyyjux6hzcfniemvfofwpofi4