This paper presents the contextual analysis of the user requirements for a mobile navigation robot in public space. Three human-human interaction studies were conducted in order to gain a holistic understanding of the public space as interaction context for itinerary requests. All three human-human requirement studies were analyzed with respect to retrieve guidelines for human-robot interaction. This empirical work should contribute by: (1) providing recommendations for a communication structure from a communication studies perspective, (2) providing recommendations for navigation principles for human-robot interaction in public space from a socio-psychological and a HRI perspective, and (3) providing recommendations regarding (confounding) contextual variables from an HCI perspective.