Effective robot team control methodologies for battlefield applications

In this paper, we present algorithms and display concepts that allow Soldiers to efficiently interact with a robotic swarm that is participating in a representative convoy mission. A critical aspect of swarm control, especially in disrupted or degraded conditions, is Soldier-swarm interaction-the Soldier must be kept cognizant of swarm operations through an interface that allows him or her to monitor status and/or institute corrective actions. We provide a control method for the swarm that adapts easily to changing battlefield conditions, metrics and supervisory algorithms that enable swarm members to economically monitor changes in swarm status as they execute the mission, and display concepts that can efficiently and effectively communicate swarm status to Soldiers in challenging battlefield environments.