The technological advancement in the field of Robotics and related areas is leading to the increasing deployment of artificial agents not only in factories but also in offices, hospitals, airports and, more recently, also in homes. One of the problems that robots face when deployed in environments with people is how to perform the so-called human-aware navigation, i.e., how to move around the environment complying with people's social conventions so that the humans around them feel safe and comfortable. In this regard, the social conventions typically followed by humans include keeping a certain distance from each other and not invading the space shared by the people gathered in a group.