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
Developing performance metrics for the supervisory control of multiple robots
Proceedings of the ACM/IEEE international conference on Human-robot interaction
Assessing the scalability of a multiple robot interface
Proceedings of the ACM/IEEE international conference on Human-robot interaction
Assessing cooperation in human control of heterogeneous robots
Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
Compass visualizations for human-robotic interaction
Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
Journal of Intelligent and Robotic Systems
Multiple robot / single human interaction: effects on perceived workload
Behaviour & Information Technology
Tactical Reconnaissance Using Groups of Partly Autonomous UGVs
EPCE '09 Proceedings of the 8th International Conference on Engineering Psychology and Cognitive Ergonomics: Held as Part of HCI International 2009
Managing workload in human-robot interaction: A review of empirical studies
Computers in Human Behavior
Independently verifiable decentralized role-based delegation
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Delegation to automation: performance and implications in non-optimal situations
EPCE'11 Proceedings of the 9th international conference on Engineering psychology and cognitive ergonomics
Designing interfaces for multi-user, multi-robot systems
HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction
A transition model for cognitions about agency
Proceedings of the 8th ACM/IEEE international conference on Human-robot interaction
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Three experiments and a computational analysis were conducted to investigate the effects of a delegation-type interface on human supervision of simulated multiple unmanned vehicles. Participants supervised up to eight robots using automated behaviors ("plays"), manual (waypoint) control, or both to capture the flag of an opponent with an equal number of robots, using a simple form of a delegation-type interface, Playbook. Experiment 1 showed that the delegation interface increased mission success rate and reduced mission completion time when the opponent "posture" was unpredictably offensive or defensive. Experiment 2 showed that performance was superior when operators could flexibly use both automated behaviors and manual control, although there was a small increase in subjective workload. Experiment 3 investigated additional dimensions of flexibility by comparing delegation interfaces to restricted interfaces. Eight interfaces were tested, varying in the level of abstraction at which robot behavior could be tasked and the level of aggregation (single or multiple robots) to which plays could be assigned. Performance was superior with flexible interfaces for four robots, but this benefit was eliminated when eight robots had to be supervised. Finally, a computational analysis using task-network modeling and Monte Carlo simulation gave results that closely paralleled the empirical data on changes in workload across interface type. The results provide initial empirical evidence for the efficacy of delegation-type interfaces in human supervision of a team of multiple autonomous robots.