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On Autonomous Multi-Agent Control In Wilderness Search And Rescue: A Mixed Initiative Approach, Benjamin C. Hardin

Theses and Dissertations

Searching for lost people in a Wilderness Search and Rescue (WiSAR) scenario is a task that can benefit from large numbers of agents, some of whom may be robotic. These agents may have differing levels of autonomy, determined by the set of tasks they are performing. In addition, the level of autonomy that results in the best performance may change due to varying workload or other factors. Allowing a supervisor and a searcher to jointly decide the correct level of autonomy for a given situation (“mixed initiative”) results in better overall performance than giving an agent absolute control over their …