Visible to the public Trust of Humans in Supervisory Control of Swarm Robots with Varied Levels of Autonomy

TitleTrust of Humans in Supervisory Control of Swarm Robots with Varied Levels of Autonomy
Publication TypeConference Paper
Year of Publication2018
AuthorsNam, C., Li, H., Li, S., Lewis, M., Sycara, K.
Conference Name2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC)
KeywordsAutomation, flocking swarm, fully autonomous LOA, Human Behavior, human factors, human operator, human-robot interaction, levels of autonomy, manual LOA, Manuals, mixed-initiative LOA, mobile robots, multi-robot systems, passively monitoring operators, pubcrawl, resilience, Resiliency, Robot Trust, robots, robust trust, search algorithm, search problems, supervisory control, swarm robotics, swarm robots, swarm supervisory control, Switches, target foraging task, Task Analysis, trust-related human factors

In this paper, we study trust-related human factors in supervisory control of swarm robots with varied levels of autonomy (LOA) in a target foraging task. We compare three LOAs: manual, mixed-initiative (MI), and fully autonomous LOA. In the manual LOA, the human operator chooses headings for a flocking swarm, issuing new headings as needed. In the fully autonomous LOA, the swarm is redirected automatically by changing headings using a search algorithm. In the mixed-initiative LOA, if performance declines, control is switched from human to swarm or swarm to human. The result of this work extends the current knowledge on human factors in swarm supervisory control. Specifically, the finding that the relationship between trust and performance improved for passively monitoring operators (i.e., improved situation awareness in higher LOAs) is particularly novel in its contradiction of earlier work. We also discover that operators switch the degree of autonomy when their trust in the swarm system is low. Last, our analysis shows that operator's preference for a lower LOA is confirmed for a new domain of swarm control.

Citation Keynam_trust_2018