ABSTRACT
This chapter presents new measures of the demand coordination places on operators of multirobot systems (MRS) and three experiments evaluating the approach and the usefulness of these measures. The performance of human-robot teams is complex and multifaceted, reflecting the capabilities of the robots, the operators, and the quality of their interactions. Recent efforts to define common metrics for human-robot interaction have favored sets of metric classes to measure the effectiveness of the system's constituents and their interactions as well as the system's overall performance. The neglect tolerance model describes an operator's interaction with multiple robots as a sequence of control episodes in which an operator interacts with a robot for period interaction time (IT), raising its performance above some upper threshold, after which the robot is neglected for the period neglect time (NT) until its performance deteriorates below a lower threshold when the operator must again interact with it.
