  As service robots become more capable of autonomous behaviors, it becomes
increasingly important to consider how people communicate with a robot what
task it should perform and how to do the task. Accordingly, there has been a
rise in attention to end-user development (EUD) interfaces, which enable
non-roboticist end users to specify tasks for autonomous robots to perform.
However, state-of-the-art EUD interfaces are often constrained through
simplified domains or restrictive end-user interaction. Motivated by prior
qualitative design work that explores how to integrate a care robot in an
assisted living community, we discuss the challenges of EUD in this complex
domain. One set of challenges stems from different user-facing representations,
e.g., certain tasks may lend themselves better to rule-based trigger-action
representations, whereas other tasks may be easier to specify via sequences of
actions. The other stems from considering the needs of multiple stakeholders,
e.g., caregivers and residents of the facility may all create tasks for the
robot, but the robot may not be able to share information about all tasks with
all residents due to privacy concerns. We present scenarios that illustrate
these challenges and also discuss possible solutions.
