How search and its subtasks scale in N robots Export

@inproceedings{citeulike:6069467, abstract = {The present study investigates the effect of the number of controlled robots on performance of an urban search and rescue (USAR) task using a realistic simulation. Participants controlled either 4, 8, or 12 robots. In the fulltask control condition participants both dictated the robots' paths and controlled their cameras to search for victims. In the exploration condition, participants directed the team of robots in order to explore as wide an area as possible. In the perceptual search condition, participants searched for victims by controlling cameras mounted on robots following predetermined paths selected to match characteristics of paths generated under the other two conditions. By decomposing the search and rescue task into exploration and perceptual search subtasks the experiment allows the determination of their scaling characteristics in order to provide a basis for tentative task allocations among humans and automation for controlling larger robot teams. In the fulltask control condition task performance increased in going from four to eight controlled robots but deteriorated in moving from eight to twelve. Workload increased monotonically with number of robots. Performance per robot decreased with increases in team size. Results are consistent with earlier studies suggesting a limit of between 8-12 robots for direct human control.}, address = {New York, NY, USA}, author = {Wang, Huadong and Lewis, Michael and Velagapudi, Prasanna and Scerri, Paul and Sycara, Katia}, booktitle = {HRI '09: Proceedings of the 4th ACM/IEEE international conference on Human robot interaction}, citeulike-article-id = {6069467}, citeulike-linkout-0 = {http://portal.acm.org/citation.cfm?id=1514122}, citeulike-linkout-1 = {http://dx.doi.org/10.1145/1514095.1514122}, doi = {10.1145/1514095.1514122}, isbn = {978-1-60558-404-1}, location = {La Jolla, California, USA}, pages = {141--148}, posted-at = {2009-11-04 14:57:48}, priority = {2}, publisher = {ACM}, title = {How search and its subtasks scale in N robots}, url = {http://dx.doi.org/10.1145/1514095.1514122}, year = {2009} }

TY - CONF ID - citeulike:6069467 L3 - citeulike-article-id:6069467 N2 - The present study investigates the effect of the number of controlled robots on performance of an urban search and rescue (USAR) task using a realistic simulation. Participants controlled either 4, 8, or 12 robots. In the fulltask control condition participants both dictated the robots' paths and controlled their cameras to search for victims. In the exploration condition, participants directed the team of robots in order to explore as wide an area as possible. In the perceptual search condition, participants searched for victims by controlling cameras mounted on robots following predetermined paths selected to match characteristics of paths generated under the other two conditions. By decomposing the search and rescue task into exploration and perceptual search subtasks the experiment allows the determination of their scaling characteristics in order to provide a basis for tentative task allocations among humans and automation for controlling larger robot teams. In the fulltask control condition task performance increased in going from four to eight controlled robots but deteriorated in moving from eight to twelve. Workload increased monotonically with number of robots. Performance per robot decreased with increases in team size. Results are consistent with earlier studies suggesting a limit of between 8-12 robots for direct human control. CY - La Jolla, California, USA SN - 978-1-60558-404-1 AD - New York, NY, USA EP - 148 TI - How search and its subtasks scale in N robots PB - ACM T2 - HRI '09: Proceedings of the 4th ACM/IEEE international conference on Human robot interaction SP - 141 AU - Wang, Huadong AU - Lewis, Michael AU - Velagapudi, Prasanna AU - Scerri, Paul AU - Sycara, Katia PY - 2009/// UR - http://dx.doi.org/10.1145/1514095.1514122 ER -