Scaling effects for streaming video vs. static panorama in multirobot search

Camera guided teleoperation has long been the preferred mode for controlling remote robots with other modes such as asynchronous control only used when unavoidable. Because controlling multiple robots places additional demands on the operator we hypothesized that removing the forced pace for reviewing camera video might reduce workload and improve performance. In an earlier experiment participants operated four teams performing a simulated urban search and rescue (USAR) task using a conventional streaming video plus map interface or an experimental interface without streaming video but with the ability to store panoramic images on the map to be viewed at leisure. Operators were more accurate in marking victims on maps using the conventional interface; however, ancillary measures suggested that the asynchronous interface succeeded in reducing temporal demands for switching between robots. This raised the possibility that the asynchronous interface might perform better if teams were larger. In this experiment we evaluate the usefulness of asynchronous video for teams of 4, 8, or 12 robots. Operators in the two conditions were equally successful in finding victims, however, the streaming video maintained its advantage for accuracy in locating victims.