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Small uncrewed aerial systems, sUAS, provide an invaluable resource for performing a variety of surveillance, search, and delivery tasks in remote or hostile terrains which may not be accessible by other means. Due to the critical role sUAS play in these situations, it is vital that they are well configured in order to ensure a safe and stable flight. However, it is not uncommon for mistakes to occur in configuration and calibration, leading to failures or incomplete missions. To address this problem, we propose a set of self-adaptive mechanisms and implement them into a self-adaptive framework, CICADA, for Controller Instability-preventing Configuration Aware Drone Adaptation. CICADA dynamically detects unstable drone behavior during flight and adapts to mitigate this threat. We have built a prototype of CICADA using a popular open source sUAS simulator and experimented with a large number of different configurations. Experimental results show that CICADA’s adaptations reduce controller instability and enable the sUAS to recover from a significant number of poor configurations. In cases where we cannot complete the intended mission, invoking alternative adaptations may still help by allowing the vehicle to loiter or land safely in place, avoiding potentially catastrophic crashes. 

Rapid advancements in Artificial Intelligence have shifted the focus from traditional human-directed robots to fully autonomous ones that do not require explicit human control. These are commonly referred to as Human-on-the-Loop (HotL) systems. Transparency of HotL systems necessitates clear explanations of autonomous behavior so that humans are aware of what is happening in the environment and can understand why robots behave in a certain way. However, in complex multi-robot environments, especially those in which the robots are autonomous and mobile, humans may struggle to maintain situational awareness. Presenting humans with rich explanations of autonomous behavior tends to overload them with lots of information and negatively affect their understanding of the situation. Therefore, explaining the autonomous behavior of multiple robots creates a design tension that demands careful investigation. This paper examines the User Interface (UI) design trade-offs associated with providing timely and detailed explanations of autonomous behavior for swarms of small Unmanned Aerial Systems (sUAS) or drones. We analyze the impact of UI design choices on human awareness of the situation. We conducted multiple user studies with both inexperienced and expert sUAS operators to present our design solution and initial guidelines for designing the HotL multi-sUAS interface.