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Human operators in human-robot teams are commonly perceived to be criticalfor mission success. To explore the direct and perceived impact of operatorinput on task success and team performance, 16 real-world missions (10 hrs)were conducted based on the DARPA Subterranean Challenge. These missions wereto deploy a heterogeneous team of robots for a search task to locate andidentify artifacts such as climbing rope, drills and mannequins representinghuman survivors. Two conditions were evaluated: human operators that couldcontrol the robot team with state-of-the-art autonomy (Human-Robot Team)compared to autonomous missions without human operator input (Robot-Autonomy).Human-Robot Teams were often in directed autonomy mode (70% of mission time),found more items, traversed more distance, covered more unique ground, and hada higher time between safety-related events. Human-Robot Teams were faster atfinding the first artifact, but slower to respond to information from the robotteam. In routine conditions, scores were comparable for artifacts, distance,and coverage. Reasons for intervention included creating waypoints toprioritise high-yield areas, and to navigate through error-prone spaces. Afterobserving robot autonomy, operators reported increases in robot competency andtrust, but that robot behaviour was not always transparent and understandable,even after high mission performance.

Human-Robot Team Performance Compared to Full Robot Autonomy in 16  Real-World Search and Rescue Missions: Adaptation of the DARPA Subterranean  Challenge