Comparing single task assignments control with supervisory control through automated plan generation

The workload of a single operator of a multi robot systems increases with the number of robots in use. Supervisory control is a general idea to solve this issue. In this paper we present an experiment in which we compare single robot control and group robot control. Using single robot control the user must task each robot separately. Using group robot control, he can task the whole group and a planning component generates a plan and observes the execution. We compare performance, errors and workload of the user under single robot control and group robot control conditions.