Utilizing queued actions to increase interaction efficiency in robot control interfaces

We present a robot tasking model using queued actions to enhance a supervisory mobile robot control interface. A model of interaction using this queue of actions is developed and presented with experiments. We develop a general multirobot interaction model which incorporates queued actions and propose two metrics for measuring directly the number of controllable robots, closely related to the Fan Out metric. An experimental interface was developed incorporating queued actions and an experiment run where participants perform a resource gathering task in an unknown environment. Results from the experiment show that the queued actions significantly improve the interface efficiency.