Designing Effective Human-Swarm Interaction Interfaces: Insights from a User Study on Task Performance

In this paper, we present a systematic method of design for human-swarm interaction interfaces, combining theoretical insights with empirical evaluation. We first derive ten design principles from existing literature, apply them to key information dimensions identified through goal-directed task analysis and developed a tablet-based interface for a target search task. We then conducted a user study with 31 participants where humans were required to guide a robotic swarm to a target in the presence of three types of hazards that pose a risk to the robots: Distributed, Moving, and Spreading. Performance was measured based on the proximity of the robots to the target and the number of deactivated robots at the end of the task. Results indicate that at least one robot was bought closer to the target in 98% of tasks, demonstrating the interface's success fulfilling the primary objective of the task. Additionally, in nearly 67% of tasks, more than 50% of the robots reached the target. Moreover, particularly better performance was noted in moving hazards. Additionally, the interface appeared to help minimize robot deactivation, as evidenced by nearly 94% of tasks where participants managed to keep more than 50% of the robots active, ensuring that most of the swarm remained operational. However, its effectiveness varied across hazards, with robot deactivation being lowest in distributed hazard scenarios, suggesting that the interface provided the most support in these conditions.