Access Type

Open Access Dissertation

Date of Award


Degree Type


Degree Name



Electrical and Computer Engineering

First Advisor

Abhilash Pandya


This thesis presents a seamlessly controlled human multi-robot system comprised of ground and aerial robots of semi-autonomous nature for source localization tasks. The system combines augmented reality interfaces capabilities with human supervisor's ability to control multiple robots. It used advanced path planning algorithms to ensure obstacles are avoided and that the operators are free for higher-level tasks. A sensor data fused AR view is displayed which helped the users pin point source information or help the operator with the goals of the mission. The paper studies a preliminary Human Factors evaluation of this system in which several interface conditions are tested for source detection tasks.