A Study of Human-Agent Collaboration for Multi-UAV Task Allocation in Dynamic Environments∗

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 sup-port human decision making in this setting. To elu-cidate the resulting interactional issues, we com-pare 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.