{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,14]],"date-time":"2026-09-14T22:32:13Z","timestamp":1789425133590,"version":"build-2803163510"},"reference-count":58,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T00:00:00Z","timestamp":1781049600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>Supervisory control of autonomous drones in cluttered urban environments requires operators to update beliefs about dynamic hazards, such as localized wind changes, from imperfect and time-varying cues. To examine how interface design shapes this belief-updating process, four feedback conditions were compared: a baseline information panel (Control), augmented visual cues (Visual), upper-body haptic cues (Haptic), and their combination (Multimodal). Thirty participants supervised an autonomous drone in a Unity-based high-fidelity Virtual Reality simulation, with integrated eye tracking sampled at 90 Hz to derive an objective cognitive-load index. Belief updating was captured through change reporting and quantified using reaction latency and a Bayesian Beta-Binomial \u201clocal probability\u201d metric that estimates time-resolved correctness, alongside subjective workload measured via NASA-TLX. Reaction latency decreased monotonically from Control (3.23 s) to Visual (2.61 s) to Haptic (1.67 s) to Multimodal (1.08 s). Multimodal was faster than Control (p &amp;lt; 0.001) and faster than Haptic (p = 0.045). Time-resolved correctness similarly improved, with mean local probability rising from 0.17 (Control) to 0.24 (Visual) and 0.22 (Haptic), reaching 0.43 under Multimodal. Eye-tracking comparisons indicated higher cognitive load in Haptic relative to Visual (p = 0.0201) and Multimodal (p = 0.0026). Together, the findings indicate a multimodal synergy that improves both speed and reliability of belief updates without the cognitive-load elevation observed under haptic-only feedback, supporting multimodal interface design for safer and more dependable human\u2013autonomy teaming in urban drone operations.<\/jats:p>","DOI":"10.3389\/frobt.2026.1707022","type":"journal-article","created":{"date-parts":[[2026,6,9]],"date-time":"2026-06-09T22:10:16Z","timestamp":1781043016000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["Multimodal feedback enhances human belief updating performance and reduces cognitive load in urban drone operation"],"prefix":"10.3389","volume":"13","author":[{"given":"Bowen","family":"Sun","sequence":"first","affiliation":[{"name":"Informatics, Cobots and Intelligent Construction (ICIC) Lab, Engineering School of Sustainable Infrastructure and Environment, University of Florida","place":["Gainesville, FL, United States"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiahao","family":"Wu","sequence":"additional","affiliation":[{"name":"Informatics, Cobots and Intelligent Construction (ICIC) Lab, Engineering School of Sustainable Infrastructure and Environment, University of Florida","place":["Gainesville, FL, United States"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hengxu","family":"You","sequence":"additional","affiliation":[{"name":"Informatics, Cobots and Intelligent Construction (ICIC) Lab, Engineering School of Sustainable Infrastructure and Environment, University of Florida","place":["Gainesville, FL, United States"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jing","family":"Du","sequence":"additional","affiliation":[{"name":"Informatics, Cobots and Intelligent Construction (ICIC) Lab, Engineering School of Sustainable Infrastructure and Environment, University of Florida","place":["Gainesville, FL, United States"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2026,6,10]]},"reference":[{"key":"B1","doi-asserted-by":"crossref","first-page":"111","DOI":"10.1007\/978-3-030-77163-8_6","article-title":"Human-drone interaction (HDI): opportunities and considerations in construction","volume-title":"Automation and robotics in the architecture, engineering, and construction industry","author":"Albeaino","year":"2022"},{"key":"B2","doi-asserted-by":"publisher","first-page":"276","DOI":"10.1037\/0033-2909.91.2.276","article-title":"Task-evoked pupillary responses, processing load, and the structure of processing resources","volume":"91","author":"Beatty","year":"1982","journal-title":"Psychol. 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