Robots are envisioned to play an increasingly important It is a big challenge for a human to control or manage role in applications such as search, rescue, surveillance, swarms because of the limitations of each individual robot and reconnaissance operations. Nowadays, the majority of and the sheer number of robots that need to be coordinated mobile robots developed and deployed for such applications to successfully complete a mission. Autonomous algorithms are (a) individually very capable both in terms of autonomy may mitigate some of the complexity an operator faces in and sensor, and (b) are teleoperated or otherwise managed controlling such swarms, but resolving how authority and by a single or multiple operators. In contrast to the sophisticated influence should be shared poses a significant new research robots currently used for these applications, the development problem. of cheaper hardware allows the creation of swarm systems composed of many more robots but with each individual being far less powerful.

Human interaction with robot swarms (HSI) is a young field with very few user studies that explore operator behavior. All these studies assume perfect communication between the operator and the swarm. A key challenge in the use of swarm robotic systems in human supervised tasks is to understand human swarm interaction in the presence of limited communication bandwidth, which is a constraint arising in many practical scenarios. In this paper, we present results of human-subject experiments designed to study the effect of bandwidth limitations in human swarm interaction. We consider three levels of bandwidth availability in a swarm foraging task. The lowest bandwidth condition performs poorly, but the medium and high bandwidth condition both perform well. In the medium bandwidth condition, we display useful aggregated swarm information (like swarm centroid and spread) to compress the swarm state information. We also observe interesting operator behavior and adaptation of operators’ swarm reaction.

Most human-computer interfaces can be classified according to two dominant metaphors: (1) agent and (2) environment. In the environment metaphor, a model of the task domain is presented for the user to interact with directly. Norman's 1984 model of HCI is introduced as reference to organize and evaluate research in human-agent interaction (HAI). A wide variety of heterogeneous research involving HAI is shown to reflect automation of one of the stages of action or evaluation within Norman's model.

Interacting with a computer requires adopting some metaphor to guide our actions and expectations. Most human-computer interfaces can be classified according to two dominant metaphors: (1) agent and (2) environment. Interactions based on an agent metaphor treat the computer as an intermediary that responds to user requests. In the environment metaphor, a model of the task domain is presented for the user to interact with directly. The term agent has come to refer to the automation of aspects of human-computer interaction (HCI), such as anticipating commands or autonomously performing actions. Norman's 1984 model of HCI is introduced as reference to organize and evaluate research in human-agent interaction (HAI). A wide variety of heterogeneous research involving HAI is shown to reflect automation of one of the stages of action or evaluation within Norman's model. Improvements in HAI are expected to result from a more heterogeneous use of methods that target multiple stages simultaneously.