{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,10]],"date-time":"2026-02-10T19:29:06Z","timestamp":1770751746570,"version":"3.50.0"},"reference-count":21,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2010,4,1]],"date-time":"2010-04-01T00:00:00Z","timestamp":1270080000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Hum Factors"],"published-print":{"date-parts":[[2010,4]]},"abstract":"<jats:p> Objective: The number of robots an operator can supervise increases with the robots\u2019 level of autonomy. The reported study investigates multirobot foraging to identify aspects of the task most suitable for automation. Background: Many envisioned applications of robotics involve multirobot teams. One of the simplest of these applications is foraging, in which robots are operated independently to explore and discover targets. Depending on levels of autonomy and task, operators have been found able to manage 3 to 12 robots. Method: The foraging task can be functionally subdivided into visiting new regions and identifying targets. In the reported experiment, full-task foraging performance was compared with exploration and perceptual search performance for 4-, 8-, and 12-robot teams in a between-groups repeated measures design. Results: Operators in the full-task condition could not successfully manage 12 robots, finding only half as many victims as perceptual search operators. Exploration performance was roughly the same in the full-task and exploration conditions, suggesting that performance of this subtask was limiting the number of robots that could be controlled. Conclusion: Performance and workload measures indicate that exploration (navigation) tasks are the limiting factor in multirobot foraging. This finding suggests that robot navigation is the best candidate for automation. Application: Search tasks, such as foraging or perimeter control, account for many of the near-term applications envisioned for multirobot teams. The results support the choice of task-centered architectures in which the control and coordination of robotic platforms is automated, leaving search and identification of targets to human operators. <\/jats:p>","DOI":"10.1177\/0018720810366859","type":"journal-article","created":{"date-parts":[[2010,5,12]],"date-time":"2010-05-12T02:02:20Z","timestamp":1273629740000},"page":"225-233","source":"Crossref","is-referenced-by-count":27,"title":["Choosing Autonomy Modes for Multirobot Search"],"prefix":"10.1177","volume":"52","author":[{"given":"Michael","family":"Lewis","sequence":"first","affiliation":[{"name":"University of Pittsburgh, Pittsburgh, Pennsylvania,"}]},{"given":"Huadong","family":"Wang","sequence":"additional","affiliation":[{"name":"University of Pittsburgh, Pittsburgh, Pennsylvania"}]},{"given":"Shih Yi","family":"Chien","sequence":"additional","affiliation":[{"name":"University of Pittsburgh, Pittsburgh, Pennsylvania"}]},{"given":"Prasanna","family":"Velagapudi","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, Pennsylvania"}]},{"given":"Paul","family":"Scerri","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, Pennsylvania"}]},{"given":"Katia","family":"Sycara","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, Pennsylvania"}]}],"member":"179","published-online":{"date-parts":[[2010,5,11]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.21236\/ADA406255"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20212"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/70.736776"},{"issue":"1","key":"atypb4","doi-asserted-by":"crossref","first-page":"85","DOI":"10.1207\/s15327051hci1901&2_5","volume":"19","author":"Burke, J.","year":"2004","journal-title":"Human-Computer Interaction"},{"key":"atypb5","first-page":"1","volume":"4","author":"Cao, Y.","year":"1997","journal-title":"Autonomous Robots"},{"key":"atypb6","volume-title":"Proceedings of the ACM\/IEEE International Conference on Human-Robot Interaction","author":"Crandall, J."},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCA.2005.850587"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCC.2004.826285"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1080\/001401399185595"},{"key":"atypb10","doi-asserted-by":"crossref","unstructured":"Hart, S. & Staveland, L. ( 1988). Development of a multidimensional workload rating scale: Results of empirical and theoretical research. In P. A. Hancock & N. Meshkati (Eds.), Human mental workload (pp. 139-183). Amsterdam, Netherlands: Elsevier.","DOI":"10.1016\/S0166-4115(08)62386-9"},{"key":"atypb11","volume-title":"Proceedings of the 2nd ACM\/IEEE International Conference on Human-Robotic Interaction","author":"Humphrey, C."},{"key":"atypb12","volume-title":"Urban search and rescue robot performance standards: Progress update","author":"Jacoff, A.S.","year":"2007"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1109\/MIS.2009.63"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1177\/155534340700100105"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1518\/001872007779598037"},{"key":"atypb16","volume-title":"Proceedings of the SIGCHI Conference on Human Factors in Computing Systems","author":"Olsen, D."},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008977508664"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1207\/s15326969eco0701_1"},{"key":"atypb19","volume-title":"Proceedings of the 2003 International Conference on Robotics and Automation","author":"Trouvain, B."},{"key":"atypb20","volume-title":"Proceedings of the 2002 IEEE International Workshop on Robot and Human Interactive Communication","author":"Trouvain, B."},{"key":"atypb21","volume-title":"Proceedings of 2007 IEEE International Conference on Systems, Man, and Cybernetics","author":"Wang, J."}],"container-title":["Human Factors: The Journal of the Human Factors and Ergonomics Society"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0018720810366859","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0018720810366859","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,2]],"date-time":"2025-03-02T19:53:21Z","timestamp":1740945201000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0018720810366859"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,4]]},"references-count":21,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2010,4]]}},"alternative-id":["10.1177\/0018720810366859"],"URL":"https:\/\/doi.org\/10.1177\/0018720810366859","relation":{},"ISSN":["0018-7208","1547-8181"],"issn-type":[{"value":"0018-7208","type":"print"},{"value":"1547-8181","type":"electronic"}],"subject":[],"published":{"date-parts":[[2010,4]]}}}