Developing Mixed-Initiative Interaction with Intelligent Systems: Lessons Learned from Supervising Multiple UAVs

A goal of future DOD mission planners is to have single operators supervise multiple unmanned aerial vehicles (UAVs). Reaching this goal requires significant advances in onboard vehicle control/planning technology as well as the development of mixed-initiative interaction human system interfaces (HSIs) that enable the user to understand the output from the vehicle planners in the context of the tactical situation and influence the mission (e.g. intervening or directing) when required. This paper describes lessons learned in the development of HSIs for mixed-initiative interaction between hierarchical planners and human operator under DARPAs Mixed-Initiative Control of Automateams (MICA) project.