Adapting GOMS to model human-robot interaction

A formal interaction modeling technique known as Goals, Operators, Methods, and Selection rules (GOMS) is well-established in human-computer interaction as a cost-effective way of evaluating designs without the participation of end users. This paper explores the use of GOMS for evaluating human-robot interaction. We provide a case study in the urban search-and-rescue domain and raise issues for developing GOMS models that have not been previously addressed. Further, we provide rationale for selecting different types of GOMS modeling techniques to help the analyst model human-robot interfaces.