Effects of changing reliability on trust of robot systems

Prior work in human-autonomy interaction has focused on plant systems that operate in highly structured environments. In contrast, many human-robot interaction (HRI) tasks are dynamic and unstructured, occurring in the open world. It is our belief that methods developed for the measurement and modeling of trust in traditional automation need alteration in order to be useful for HRI. Therefore, it is important to characterize the factors in HRI that influence trust. This study focused on the influence of changing autonomy reliability. Participants experienced a set of challenging robot handling scenarios that forced autonomy use and kept them focused on autonomy performance. The counterbalanced experiment included scenarios with different low reliability windows so that we could examine how drops in reliability altered trust and use of autonomy. Drops in reliability were shown to affect trust, the frequency and timing of autonomy mode switching, as well as participants' self-assessments of performance. A regression analysis on a number of robot, personal, and scenario factors revealed that participants tie trust more strongly to their own actions rather than robot performance.