Abstract
This paper first discusses cooperation between the human operator and the decentralized autonomous robotic system. To realize cooperation, the operator must know condition of the mutli robot system. Therefore, monitoring methods which let the operator know system's condition are needed. Then strategies of communication between the human interface and agents are discussed. We propose explicit and implicit communication strategies to monitor the system, and several monitoring methods to implement them: time-based and event-based monitoring for the explicit monitoring and eavesdropping messages for the implicit monitoring. We compare the monitoring methods in order to ascertain how much information the human operator can gather in each method using simulation. Finally, the characteristics of each monitoring methods are analyzed.
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