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Teams organization and performance analysis in autonomous human-robot teams

Wang, H and Lewis, M and Chien, SY (2010) Teams organization and performance analysis in autonomous human-robot teams. In: UNSPECIFIED.

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This paper proposes a theory of human control of robot teams based on considering how people coordinate across different task allocations. Our current work focuses on domains such as foraging in which robots perform largely independent tasks. The present study addresses the interaction between automation and organization of human teams in controlling large robot teams performing an Urban Search and Rescue (USAR) task. We identify three subtasks: perceptual search-visual search for victims, assistance-teleoperation to assist robot, and navigation-path planning and coordination. For the studies reported here, navigation was selected for automation because it involves weak dependencies among robots making it more complex and because it was shown in an earlier experiment to be the most difficult. This paper reports an extended analysis of the two conditions from a larger four condition study. In these two "shared pool" conditions Twenty four simulated robots were controlled by teams of 2 participants. Sixty paid participants (30 teams) were recruited to perform the shared pool tasks in which participants shared control of the 24 UGVs and viewed the same screens. Groups in the manual control condition issued waypoints to navigate their robots. In the autonomy condition robots generated their own waypoints using distributed path planning. We identify three self-organizing team strategies in the shared pool condition: joint control operators share full authority over robots, mixed control in which one operator takes primary control while the other acts as an assistant, and split control in which operators divide the robots with each controlling a sub-team. Automating path planning improved system performance. Effects of team organization favored operator teams who shared authority for the pool of robots. © 2010 ACM.


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Item Type: Conference or Workshop Item (UNSPECIFIED)
Status: Published
CreatorsEmailPitt UsernameORCID
Wang, H
Lewis, M
Chien, SY
Date: 1 December 2010
Date Type: Publication
Journal or Publication Title: Performance Metrics for Intelligent Systems (PerMIS) Workshop
Page Range: 251 - 257
Event Type: Conference
DOI or Unique Handle: 10.1145/2377576.2377622
Institution: University of Pittsburgh
Schools and Programs: School of Information Sciences > Information Science
Refereed: Yes
ISBN: 9781450302906
Date Deposited: 24 Jun 2011 15:17
Last Modified: 08 Feb 2024 11:55


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