Autonomous swarms of robots can bring robustness, scalability and adaptability to safety-critical tasks such as search and rescue but their application is still very limited. Using semi-autonomous swarms with human control can bring robot swarms to real-world applications. Human operators can define goals for the swarm, monitor their performance and interfere with, or overrule, the decisions and behaviour. We present the ``Human And Robot Interactive Swarm'' simulator (HARIS) that allows multi-user interaction with a robot swarm and facilitates qualitative and quantitative user studies through simulation of robot swarms completing tasks, from package delivery to search and rescue, with varying levels of human control. In this demonstration, we showcase the simulator by using it to study the performance gain offered by maintaining a ``human-in-the-loop'' over a fully autonomous system as an example. This is illustrated in the context of search and rescue, with an autonomous allocation of resources to those in need.

翻译：自主机器人集群能够为搜索救援等安全关键任务带来鲁棒性、可扩展性和适应性，但其应用仍十分有限。采用具有人类控制的半自主集群，可推动机器人集群迈向实际应用。人类操作员可为集群设定目标、监控其性能，并干预或推翻其决策与行为。我们提出“人与机器人交互集群”仿真器（HARIS），该平台支持多用户与机器人集群的交互，并通过模拟机器人集群完成从包裹配送到搜索救援等任务（涵盖不同层级的人类控制），促进定性与定量用户研究。在此演示中，我们以该仿真器为例，通过研究“人在回路”系统相比全自主系统所带来的性能增益加以展示。最终以搜索救援为背景，展示如何自主分配资源给需要救助者。