| Summary: | In this article, we present work on collaborating robot teams that use verbal explanations of their actions and intentions in order to be more understandable to the human. For this, we introduce a mechanism that determines what information the robots should verbalize in accordance with Grice’s maxim of quantity, i.e., convey as much information as is required and no more or less. Our setup is a robot team collaborating to achieve a common goal while explaining in natural language what they are currently doing and what they intend to do. The proposed approach is implemented on three Pepper robots moving objects on a table. It is evaluated by human subjects answering a range of questions about the robots’ explanations, which are generated using either our proposed approach or two further approaches implemented for evaluation purposes. Overall, we find that our proposed approach leads to the most understanding of what the robots are doing. In addition, we further propose a method for incorporating policies driving the distribution of tasks among the robots, which may further support understandability.
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