Our environments are increasingly being populated with intelligent devices and robots. People use digital assistants with speech interfaces to play music, find out about the weather, or call a taxi. Such interfaces are designed for single user control, and often fail when multiple people interact simultaneously. For instance, if two users keep asking for a different song, the digital assistant will keep changing the music with no regards for users’ comfort or any conflict that may arise. As these devices are shared, it is crucial that the interface is built to consider more than one user. This work investigates which control schemes are suitable for multiple users to simultaneously interact with a single domestic cleaning robot. The control schemes will be tested with small groups of people who live together. Our work will inform researchers on how to build control schemes that are acceptable and suitable in shared environments.