A method for interactions during encounters between a mobile robot and an actor, a mobile robot configured for execution of delivery tasks in an outdoor environment, and a use of the mobile robot. The method comprises the mobile robot traveling on a pedestrian pathway; detecting an actor by the mobile robot via a sensor system; identifying a situation associated with the detected actor; in response to the identified situation, determining an action to execute by the mobile robot, and executing the determined action by the mobile robot. The mobile robot comprises a navigation component configured for at least partially autonomous navigation in an outdoor environment; a sensor system configured for collecting sensor data during an encounter between the mobile robot and an actor; a processing component configured to process the sensor data and output actions for the mobile robot to perform; and an output component configured for executing actions determined by the processing component.