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Human-in-the-loop Planning and Monitoring of Swarm Search and Service Missions

As vehicles move in and out of the swarm, the amount of area seen by the swarm at any given time – coverage rate – changes dynamically. The dynamically changing coverage rate causes the arrival rate of jobs to also change dynamically. Since jobs appear only when they are sensed, predicting how and when the arrival rates change is challenging, making it difficult for operators to plan and manage SSS missions. This paper presents a user study that explores the efficacy and ease-of-use of a prediction model – Hybrid Model – as an aid for operators tasked with planning and monitoring SSS missions where the arrival rate of jobs changes dynamically