IMPACT OF AUTONOMY IN MULTIROBOT SYSTEMS ON TELEOPERATION PERFORMANCE

摘要

Comparing the effort of the teleoperation of a single robot to that of a multirobot system an operator will face significantly increased quantities of information combined with increased interaction frequencies. This leads, depending on the multirobot system's characteristics, task requirements such as quality of service and the operator's abilities, to an upper bound of simultaneously teleoperable units and thus the maximum size of the multirobot system. Robot autonomy describes the robot's ability to resolve entire subtasks with little of no operator interaction leading to reductions in operator workload. Therefore, robot autonomy represents a key factor in enabling operators to effectively supervise a multirobot system. This paper presents the results of two simulation based multirobot experiments being conducted to guide and support the development of our multirobot control interface. Understanding the impact of varying levels of robot autonomy on operator performance is important for the interface design process