A team of Pepper robots collaborating to move objects on a board, thereby verbalizing their plans, intentions, and actions for (bystander) humans. 

Singh, Avinash Kumar, Baranwal, Neha, Richter, Kai-Florian, Hellström, Thomas and Bensch, Suna. "Verbal explanations by collaborating robot teams" Paladyn, Journal of Behavioral Robotics, vol. 12, no. 1, 2021, pp. 47-57. https://doi.org/10.1515/pjbr-2021-0001