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Using different Levels of Autonomy (LoA), a human operator can vary theextent of control they have over a robot's actions. LoAs enable operators tomitigate a robot's performance degradation or limitations in the its autonomouscapabilities. However, LoA regulation and other tasks may often overload anoperator's cognitive abilities. Inspired by video game user interfaces, westudy if adding a 'Robot Health Bar' to the robot control UI can reduce thecognitive demand and perceptual effort required for LoA regulation whilepromoting trust and transparency. This Health Bar uses the robot vitals androbot health framework to quantify and present runtime performance degradationin robots. Results from our pilot study indicate that when using a health bar,operators used to manual control more to minimise the risk of robot failureduring high performance degradation. It also gave us insights and lessons toinform subsequent experiments on human-robot teaming.

Robot Health Indicator: A Visual Cue to Improve Level of Autonomy Switching Systems