Multi-operator control of robot teams requires not only access to the same mission information, but also mechanisms for maintaining shared awareness and preventing conflicting interventions. Building on our previous HORUS interface (Holistic Operational Reality for Unified Systems) we present a mixed-reality interface that extends single-operator multi-robot supervision to collaborative multi-operator use. The system supports two complementary modes: a co-located shared workspace, in which operators observe and manipulate the same mini-map in the same physical location, and a private-workspace mode, in which operators work on the same mission through independently placed local workspaces. The architecture combines registration-driven scene construction, lightweight shared-session synchronization, and per-robot control leases to support collaborative monitoring, tasking, and teleoperation while preventing conflicting commands. We evaluated the approach in a human-subject study with 36 participants (18 pairs) controlling three Nova Carter mobile robots in two search environments. The performance of the objective task was comparable across the two modes, indicating that both modes supported effective mission execution. However, the co-located shared workspace significantly improved perceived collaboration, shared understanding, and handoff clarity, and was the preferred collaborative mode. These results indicate that physically co-locating the MR workspace improves how operators coordinate even when the underlying robot-control tools remain unchanged.

翻译：多操作员对机器人团队的控制不仅需要访问相同的任务信息，还需要维持共享态势感知并防止冲突干预的机制。我们在先前HORUS界面（统一系统全息操作现实）的基础上，提出了一种将单操作员多机器人监督扩展到协作式多操作员使用的混合现实界面。该系统支持两种互补模式：共置共享工作空间模式（操作员在同一物理位置观察并操作同一张迷你地图）以及私有工作空间模式（操作员通过独立部署的本地工作空间执行相同任务）。其架构结合了基于注册的场景构建、轻量级共享会话同步以及单机器人控制租约机制，以支持协作监控、任务分配与遥操作，同时防止冲突指令。我们在包含36名参与者（18对）的人机交互研究中，通过两台搜索环境中的Nova Carter移动机器人验证了该方法。两种模式下的客观任务性能相当，表明二者均能有效支持任务执行。然而，共置共享工作空间在感知协作性、共享理解力、交接清晰度方面显著提升，并成为首选协作模式。这些结果表明，即使底层机器人控制工具保持不变，物理共置混合现实工作空间能有效改善操作员间的协调能力。