An information output method of an information output device includes: obtaining, from each of at least two autonomous mobile robots each providing at least one service, first information including information about a location of the robot and information about a service provided by the robot; presenting, based on the first information, information about at least two services provided by the at least two robots to a terminal device used by a user receiving the service; obtaining, from the terminal device, second information including: a service providing location designated by the user; and information about the service selected by the user; determining, based on the second information, one robot providing the service selected by the user among the at least two robots; and outputting, to the one robot determined, first control information used for moving the one robot to the providing location.