Human control for cooperating robot teams
Proceedings of the ACM/IEEE international conference on Human-robot interaction
Supporting wilderness search and rescue using a camera-equipped mini UAV: Research Articles
Journal of Field Robotics - Special Issue on Search and Rescue Robots
Decision-theoretic human-robot communication
Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
Scalable Human-Robot Interactions in Active Sensor Networks
IEEE Pervasive Computing
Validating human-robot interaction schemes in multitasking environments
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Managing workload in human-robot interaction: A review of empirical studies
Computers in Human Behavior
How many social robots can one operator control?
Proceedings of the 6th international conference on Human-robot interaction
Robot self-initiative and personalization by learning through repeated interactions
Proceedings of the 6th international conference on Human-robot interaction
Towards human operator "state" assessment
Proceedings of the 1st International Conference on Application and Theory of Automation in Command and Control Systems
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Prior work suggests that the potential benefits of mixed initiative management of multiple robots are mitigated by situational factors, including workload and operator expertise. In this paper, we present an experiment where allowing a supervisor and group of searchers to jointly decide the correct level of autonomy for a given situation ("mixed initiative") results in better overall performance than giving an agent exclusive control over their level of autonomy ("adaptive autonomy") or giving a supervisor exclusive control over the agent's level of autonomy ("adjustable autonomy"), regardless of the supervisor's expertise or workload. In light of prior work, we identify two elements of our experiment that appear to be requirements for effective mixed initiative control of large-scale robotic teams: (a) Agents must be capable of making progress toward a goal without having to wait for human input in most circumstances. (b) The operator control interface must help the human to rapidly understand and modify the progress and intent of several agents.