Abstract: A method includes receiving, by a robotic device, an indication that the robotic device was elected to be a leader robotic device by a plurality of robotic devices and receiving an indication of a new task in a remotely stored list of tasks. The method further includes determining, based on a remotely stored list of robotic devices, an additional robotic device to assign the new task. The remotely stored list of robotic devices comprises an entry for each respective robotic device of the plurality of robotic devices associating the respective robotic device with an identifier and a heartbeat. The method additionally includes assigning the new task to the additional robotic device based on the additional robotic device having an active heartbeat. Assigning the new task to the additional robotic device comprises associating the new task with the additional robotic device in the remotely stored list of tasks to cause the additional robotic device to carry out the new task.

Abstract: Methods, systems, and apparatus, including computer programs stored on a computer-readable storage medium, for selecting a modality for interfacing between a user and a robot. In some implementations, a system determines that a particular action requires user confirmation before being performed. The system receives position data indicating a level of proximity of a user to a robot and environmental data indicating environmental conditions sensed by the robot. The system selects a particular mode for obtaining confirmation of the action from among multiple modes of interfacing with users based on one or more of the position data and the environmental data. The system provides a request confirmation of the action using the particular mode for presentation to the user.