Invited talk by Martina Lippi at the Workshop “Human-Multi-Robot Systems: Challenges for Real World Applications” (https://sites.google.com/view/hmrs-iros2022/) within the international conference IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022. Talk available at the link https://www.youtube.com/watch?v=v2sBuWkxGV8&list=PL9hQvF1kgKVmG8AgtmFjIdhnpw6uvGGEa.
