Use of Aerial Views in Remote Ground Vehicle Operations Roger A. Chadwick New Mexico State University Department of Psychology Douglas J. Gillan (PI)

Remote Ground Vehicles The ARMY is developing remotely operated semi-autonomous ground vehicles for their future forces. The ARMY is developing remotely operated semi-autonomous ground vehicles for their future forces.

Unmanned Ground Vehicles Two major classes of vehicle Two major classes of vehicle UGV = unmanned ground vehicle UGV = unmanned ground vehicle SUGV = small unmanned ground vehicle SUGV = small unmanned ground vehicle Small unmanned ground vehicles Unmanned ground vehicle

Use of SUGV in IRAQ 25 th Army Science Conference briefing. 25 th Army Science Conference briefing. Soldiers are currently using SUGVs in pre- assault of urban dwellings and caves. Soldiers are currently using SUGVs in pre- assault of urban dwellings and caves. SUGVs used to clear IEDs from roadways. SUGVs used to clear IEDs from roadways.

UAVs Unmanned Aerial Vehicles Unmanned Aerial Vehicles Small UAVs planned for wider use. Small UAVs planned for wider use. Switch-blade movie Switch-blade movie

UGV and UAV operations It makes sense to some military planners to combine UGV and UAV information. It makes sense to some military planners to combine UGV and UAV information. Also, consider combining UGV imagery with maps or satellite images. Also, consider combining UGV imagery with maps or satellite images.

Problems with UGV operations Propose that spatial disorientation is always a problem in operation of these vehicles. Propose that spatial disorientation is always a problem in operation of these vehicles. Previous studies reveal much difficulty matching ground viewed objects to aerial views. Previous studies reveal much difficulty matching ground viewed objects to aerial views. Will use of aerial views assist? Will use of aerial views assist?

Target Localization (previous study) Common localization error: wrong corner Common localization error: wrong corner actual target marked target

Integrating Air and Ground Views Task: Find ground target in Air-view

Integrating Air and Ground Views Many errors are in depth. Many errors are in depth.

Experiment Method UGV tele-operated search mission with manipulation of aerial view. UGV tele-operated search mission with manipulation of aerial view. Air view conditions (between subjects) Air view conditions (between subjects) 1) no air view 1) no air view 2) “free” auto-tracked air view 2) “free” auto-tracked air view 3) operator simple point and click air view 3) operator simple point and click air view 4) operator cognitive loaded point and click air view (solve 2 digit addition problem) 4) operator cognitive loaded point and click air view (solve 2 digit addition problem)

Procedure Consent Consent Training in mini-rover operation Training in mini-rover operation Pre-test (timed relay run in practice area) Pre-test (timed relay run in practice area) Measure time to complete (RT) Measure time to complete (RT) Measure number of faults (FAULTS) Measure number of faults (FAULTS) Pre-test (bridge crossing) Pre-test (bridge crossing) Measure time to complete (RT) Measure time to complete (RT) Measure number of tries (FAULTS) Measure number of tries (FAULTS) Subjective skill level rated (-3 to +3) Subjective skill level rated (-3 to +3) Experimenter rates participant skill after pretests Experimenter rates participant skill after pretests

Procedure (continued) Search mission instructions Search mission instructions Search Area A then Area B Search Area A then Area B Counterbalanced areas Counterbalanced areas Find as many targets (people) as possible in 10 minutes and accurately mark their locations on the map display. Find as many targets (people) as possible in 10 minutes and accurately mark their locations on the map display. Targets marked by clicking on map (rt click) Targets marked by clicking on map (rt click)

Stimuli Miniature model environment. 2 separate areas. Miniature model environment. 2 separate areas.

Targets Well hidden miniature soldier figures. Well hidden miniature soldier figures. 8 targets per area 8 targets per area

Maps Area A difficult terrain, limited possible paths Area A difficult terrain, limited possible paths Area B, many possible routes and relatively easy driving. Area B, many possible routes and relatively easy driving. Area AArea B

Results 54 participants ran experiment 54 participants ran experiment 40 valid participants analyzed 40 valid participants analyzed Several failed to pass pre-test bridge criteria (>15 attempts to cross) Several failed to pass pre-test bridge criteria (>15 attempts to cross) Several technical glitches Several technical glitches Preliminary analysis presented Preliminary analysis presented Need to regress on pre-test skill measures Need to regress on pre-test skill measures Skill of participants varies considerably Skill of participants varies considerably

Results: Faults Faults (robot flipping or getting stuck) Faults (robot flipping or getting stuck) No significant difference across conditions No significant difference across conditions

Results: Targets Found Air-view mode, p =.176, GLM Univariate (preliminary) Air-view mode, p =.176, GLM Univariate (preliminary) N = 40 Participants

Results: Targets and Skill Targets found as function of subjective skill rating of participant. Targets found as function of subjective skill rating of participant.

Results: Target Localization Pixel offset from actual to marked target Pixel offset from actual to marked target L. Error F(3,83) = 4.1 P <.01

Localization Error and Skill Subjective skill appears to correlate with Subjective skill appears to correlate with Target localization measure.

Conclusions Once again, operator skill variability is a big problem with statistical power in these type of experiments. Once again, operator skill variability is a big problem with statistical power in these type of experiments. Auto-track aerial view is most beneficial. Auto-track aerial view is most beneficial. Cognitive demands of operator controlling air view result in some loss of performance compared to auto-track. Cognitive demands of operator controlling air view result in some loss of performance compared to auto-track. Fewer targets found with operator controlled air view compared to control (no air-view) group. Fewer targets found with operator controlled air view compared to control (no air-view) group.