Principles of Adjustable Interactions

In this paper, we seek to model natural human-robot in-teractions in human-robot teams that support adjustable au-tonomy and interactions. We present a theoretical charac-terization of interaction efficiency. We then perform case studies to validate this theoretical framework. Specifically, in one case study we compare interaction efficiency be-tween a shared control teleoperation algorithm and traditional manual-control teleoperation. We then perform another case study in which we analyze the neglect tolerance of a point-to-point interaction scheme. The principles learned from these case studies should help to build more effective human-robot systems