Mixed-Initiative Interaction for Tracking of Ocean Sunfish★ ★

This paper describes a command and control infrastructure that provides mixed- initiative user interfaces for the coordination and control of networked vehicle systems composed by heterogeneous robots, satellite trackers, manned ships and communication gateways. The presented infrastructure was tested in a field experiment for tracking and sampling the surrounding of Ocean Sunfish. In this experiment, the system was used by operators to obtain global situation awareness and to specify high-level objectives that were incorporated by a shore-side planner and adapted during execution onboard the vehicles.