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To explore the direct and perceived impact of operator input on task success and team performance, 16 real-world missions (10 h) were conducted based on the DARPA Subterranean Challenge. Missions involved deploying a heterogeneous team of robots to locate and identify artefacts such as climbing rope, drills and a mannequin representing a human survivor. Two conditions were evaluated: human operators that could control the robot team with state-of-the-art autonomy (Human-Robot Team) compared to autonomous missions without human operator input (Robot-Autonomy). Human interventions included creating waypoints to prioritise high-yield areas, and to navigate through error-prone spaces. Human-Robot Teams were often in directed autonomy mode (70% of mission time), found more items (\n            <jats:inline-formula content-type=\"math\/tex\">\n              <jats:tex-math notation=\"LaTeX\" version=\"MathJax\">\\(+\\)<\/jats:tex-math>\n            <\/jats:inline-formula>\n            10.52%), traversed more distance (\n            <jats:inline-formula content-type=\"math\/tex\">\n              <jats:tex-math notation=\"LaTeX\" version=\"MathJax\">\\(+\\)<\/jats:tex-math>\n            <\/jats:inline-formula>\n            12.71%), covered more unique ground (\n            <jats:inline-formula content-type=\"math\/tex\">\n              <jats:tex-math notation=\"LaTeX\" version=\"MathJax\">\\(+\\)<\/jats:tex-math>\n            <\/jats:inline-formula>\n            10.56%), and longer time between safety-related events (34%). In routine conditions, both condition scores were comparable for artefacts, distance and coverage. Human-Robot Teams were faster at finding the first artefact but slower to respond to information from the robot team. Overall, operators contribute to mission-based outcomes, help to overcome environmental situations that can impede progress, and can assist robots to recover faster from difficult events.\n          <\/jats:p>","DOI":"10.1145\/3665319","type":"journal-article","created":{"date-parts":[[2024,9,26]],"date-time":"2024-09-26T13:33:17Z","timestamp":1727357597000},"page":"1-30","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["Human-Robot Team Performance Compared to Full Robot Autonomy in 16 Real-World Search and Rescue Missions: Adaptation of the DARPA Subterranean Challenge"],"prefix":"10.1145","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7144-3082","authenticated-orcid":false,"given":"Nicole","family":"Robinson","sequence":"first","affiliation":[{"name":"Monash University, Clayton, VIC, 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