Exploring 3D navigation: combining speed-coupled flying with orbiting
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
Vehicle Teleoperation Interfaces
Autonomous Robots
Fan-out: measuring human control of multiple robots
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
"Turn Off the Television!": Real-World Robotic Exploration Experiments with a Virtual 3-D Display
HICSS '05 Proceedings of the Proceedings of the 38th Annual Hawaii International Conference on System Sciences - Volume 09
Comparing the usefulness of video and map information in navigation tasks
Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction
Human control for cooperating robot teams
Proceedings of the ACM/IEEE international conference on Human-robot interaction
Journal of Field Robotics - Special Issue on Teamwork in Field Robotics
Robot simulation physics validation
PerMIS '07 Proceedings of the 2007 Workshop on Performance Metrics for Intelligent Systems
Design and validation of a Whegs robot in USARSim
PerMIS '07 Proceedings of the 2007 Workshop on Performance Metrics for Intelligent Systems
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Validating human-robot interaction schemes in multitasking environments
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Gravity-Referenced Attitude Display for Mobile Robots: Making Sense of What We See
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
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Camera guided teleoperation has long been the preferred mode for controlling remote robots with other modes such as asynchronous control only used when unavoidable. Because controlling multiple robots places additional demands on the operator we hypothesized that removing the forced pace for reviewing camera video might reduce workload and improve performance. In an initial experiment we evaluated the usefulness of asynchronous operation for a four robot search task. Participants operated four robot teams performing a simulated urban search and rescue (USAR) task using conventional streaming video plus a map interface or an experimental interface without streaming video but with the ability to store panoramic images on the map to be viewed at leisure. Search performance was somewhat better using the conventional interface; however, ancillary measures suggest that the asynchronous interface succeeded in reducing temporal demands for switching between robots. Because the advantages hypothesized for the asynchronous interface are due to reduction in time stress and workload, the four robot condition may have simply been too easy to observe this advantage. This view is at least partially supported by the reduced switching found in the panoramic condition. We have recently collected data for the streaming video condition for 4, 8, and 12 robots. In this data we found a marked deterioration in performance for the 12 robot condition, suggesting that at this level of difficulty asynchronous video might have an advantage. In this paper we present data for the four robot case comparison and discuss the implications of the recent data from larger teams.