-We pariicipaied in field trials of a semiautonomous vehicle. This gave us an apporiunity io coileci data on operaior inierveniions. In this paper we present an analysis of why and how operators intervene and examine the eflciency of these inierveniions. We compare the results from two trials in very dcferent ierrain io determine how this affected the time and success of the operaior interventions. In particular, we look ai the time it took operators to acquire situational mvareness in order to take the proper inieraciion. We discuss the implications of ihis on human-robot interaciions and inierJaces.

This paper outlines a methodology to evaluate supervisory user interfaces for robotic vehicles based on an assessment of situational awareness. The results of an initial experiment are discussed. The evaluation method will be validated in a future experiment that will also result in a benchmarked user interface.

Abstract-The Peer-to-Peer Human-Robot Interaction (P2P-HRI) project is developing techniques to improve task coordination and collaboration between human and robot partners. Our work is motivated by the need to develop effective human-robot teams for space mission operations. A central element of our approach is creating dialogue and interaction tools that enable humans and robots to flexibly support one another. In order to understand how this approach can influence task performance, we recently conducted a series of tests simulating a lunar construction task with a human-robot team. In this paper, we describe the tests performed, discuss our initial results, and analyze the effect of intervention on task performance.

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