AAAI Publications, Twenty-Fourth International Joint Conference on Artificial Intelligence

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A Study of Human-Agent Collaboration for Multi-UAV Task Allocation in Dynamic Environments
Sarvapali D. Ramchurn, Joel E Fischer, Yuki Ikuno, Feng Wu, Jack Flann, Antony Waldock

Last modified: 2015-06-23

Abstract


We consider a setting where a team of humans oversee the coordination of multiple Unmanned Aerial Vehicles (UAVs) to perform a number of search tasks in dynamic environments that may cause the UAVs to drop out. Hence, we develop a set of multi-UAV supervisory control interfaces and a multi-agent coordination algorithm to support human decision making in this setting. To elucidate the resulting interactional issues, we compare manual and mixed-initiative task allocation in both static and dynamic environments in lab studies with 40 participants and observe that our mixed-initiative system results in lower workloads and better performance in re-planning tasks than one which only involves manual task allocation. Our analysis points to new insights into the way humans appropriate flexible autonomy.

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