The target bartending scenario incorporates a mixture of task-based aspects (e.g.,
ordering and paying for drinks) and social aspects (e.g., managing simultaneous interactions,
queuing, dealing with arriving and departing customers). For the current
version of the system, we support interactions such as the one shown in Figure 1, in
which two customers approach the bar, attract the robot’s attention, and order a drink.
In subsequent versions, we will support extended scenarios involving a larger number
of customers arriving and leaving, individually and in groups, and with more complex
drink-ordering transactions.