We present the design of the Snackbot, a robot that will deliver snacks in our university buildings. The robot is intended to provide a useful, continuing service and to serve as a research platform for long-term Human-Robot Interaction. Our design process, which occurred over 24 months, is documented as a contribution for others in HRI who may be developing social robots that offer services. We describe the phases of the design project, and the design decisions and tradeoffs that led to the current version of the robot. Social robot, design process, interaction design, holistic designTo address these challenges, we designed and developed the Snackbot, a robust robot that will roam semi-autonomously in campus buildings, offering snacks to office residents and passersby (Figure 1). We designed the Snackbot not just as a service, but also as a research platform to investigate questions related to long-term interaction with social robots.

Among the many properties suggested for action-selection mechanisms, a prominent one is the ability to select compromise actions, i.e. actions that are not the best to satisfy any active goal in isolation, but rather compromise between multiple goals. This paper briefly reviews the history of compromise behaviour and presents experimental analyses of it in an attempt to determine how much compromise behaviour aids an agent. It concludes that optimal compromise behaviour has a surprisingly small benefit over non-compromise behaviour in the experiments performed, and presents some reasons why this may be true and hypothesizes cases where compromise behaviour is truly useful. In particular, it hypothesizes that a crucial factor is the level at which an action is taken (low-level actions are specific, such as 'move left leg'; high-level actions are vague, such as 'forage for food'). This paper hypothesizes that compromise behaviour is more beneficial for high- than low-level actions.

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