Defining Transfers Between Multiple Service Robots

In a future where many robot assistants support human endeavors, interactions with multiple robots either simultaneously or sequentially will occur. This paper highlights an initial exploration into one type of sequential interaction, which we call "transfers'' between multiple service robots. We defined the act of transferring between service robots and further decomposed it into five stages. Our research was informed by a design workshop investigating usage of multiple service robots. We also identified open design and research questions on this topic.