In recent years, technological advances have allowed robots to become a part of our everyday lives. The integration of such robots in human-populated environments presents new challenges, particularly in the context of navigation. To operate efficiently in these scenarios, robots must move safely and in a socially acceptable manner, considering the physical and psychological safety of pedestrians. To achieve these goals, it is essential to develop socially aware navigation algorithms able to perceive humans as social entities, predict their movements, and perform mutual avoidance maneuvers. Although existing approaches ensure safe robot navigation even in crowded environments, many of them exhibit reactive behavior and treat pedestrians as mere dynamic objects without predicting their future movements.