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This paper presents a team plan specification language that combines work in the creation of generic team plans and design of intelligent interfaces. Two key motivations for developing the language are (1) to combine inter-agent cooperation and operator interaction of complex behaviors into a single plan, and (2) to separate plan design and UI design such that they are created by application domain experts and human interaction experts, respectively. The presented result is a generic language for multi-robot plans that defines tasks to be performed, operator interactions for maintaining situational awareness, and mixed initiative actions to react to operator workload.
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Brooks et al. (2013) studied this question.