{"type":"ScholarlyArticle","title":"A Study of Human-Agent Collaboration for Multi-UAV Task Allocation in Dynamic Environments","authors":[{"name":"Sarvapali D. Ramchurn","slug":"sarvapali-d-ramchurn","given":"Sarvapali D.","family":"Ramchurn","affiliation":""},{"name":"Joel E. Fischer","slug":"joel-e-fischer","given":"Joel E.","family":"Fischer","affiliation":""},{"name":"Yuki Ikuno","slug":"yuki-ikuno","given":"Yuki","family":"Ikuno","affiliation":""},{"name":"Feng Wu","slug":"feng-wu","given":"Feng","family":"Wu","affiliation":""},{"name":"Jack Flann","slug":"jack-flann","given":"Jack","family":"Flann","affiliation":""},{"name":"Antony Waldock","slug":"antony-waldock","given":"Antony","family":"Waldock","affiliation":""}],"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.","doi":null,"url":"https://ijcai.org/proceedings/2015/171","pdf":"https://ijcai.org/proceedings/2015/0171.pdf","markdown":"https://ijcai.org/proceedings/2015/171.md","bibtex":"https://ijcai.org/proceedings/2015/bibtex/171","volume":{"slug":"2015","title":"Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2015","url":"https://ijcai.org/proceedings/2015/","year":2015,"location":"Buenos Aires, Argentina","dates":"25–31 July 2015","editors":"Qiang Yang and Michael Wooldridge","isbn":"978-1-57735-738-4","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Multidisciplinary Topics and Applications","track":"Main Track","number":171,"pages":{"first":1184,"last":1191},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}