{"id":"https://openalex.org/W4391158817","doi":"https://doi.org/10.1145/3610978.3640725","title":"The Effect of Predictive Formal Modelling at Runtime on Performance in Human-Swarm Interaction","display_name":"The Effect of Predictive Formal Modelling at Runtime on Performance in Human-Swarm Interaction","publication_year":2024,"publication_date":"2024-03-10","ids":{"openalex":"https://openalex.org/W4391158817","doi":"https://doi.org/10.1145/3610978.3640725"},"language":"en","primary_location":{"id":"doi:10.1145/3610978.3640725","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3610978.3640725","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3610978.3640725","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3610978.3640725","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046656483","display_name":"Ayodeji O. Abioye","orcid":"https://orcid.org/0000-0003-4637-3278"},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Ayodeji O. Abioye","raw_affiliation_strings":["Electronics and Computer Science, University of Southampton, Southampton, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Electronics and Computer Science, University of Southampton, Southampton, United Kingdom","institution_ids":["https://openalex.org/I43439940"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102882569","display_name":"William Hunt","orcid":"https://orcid.org/0000-0003-4269-5050"},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"William Hunt","raw_affiliation_strings":["Electronics and Computer Science, University of Southampton, Southampton, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Electronics and Computer Science, University of Southampton, Southampton, United Kingdom","institution_ids":["https://openalex.org/I43439940"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101522601","display_name":"Yue Gu","orcid":"https://orcid.org/0000-0002-8134-5822"},"institutions":[{"id":"https://openalex.org/I7882870","display_name":"University of Glasgow","ror":"https://ror.org/00vtgdb53","country_code":"GB","type":"education","lineage":["https://openalex.org/I7882870"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yue Gu","raw_affiliation_strings":["School of Computing Science, University of Glasgow, Glasgow, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Computing Science, University of Glasgow, Glasgow, United Kingdom","institution_ids":["https://openalex.org/I7882870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024343467","display_name":"Eike Schneiders","orcid":"https://orcid.org/0000-0002-8372-1684"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Eike Schneiders","raw_affiliation_strings":["School of Computer Science, University of Nottingham, Nottingham, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Nottingham, Nottingham, United Kingdom","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077815542","display_name":"Mohammad Naiseh","orcid":"https://orcid.org/0000-0002-4927-5086"},"institutions":[{"id":"https://openalex.org/I9300472","display_name":"Bournemouth University","ror":"https://ror.org/05wwcw481","country_code":"GB","type":"education","lineage":["https://openalex.org/I9300472"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mohammad Naiseh","raw_affiliation_strings":["Computing and Informatics, Bournemouth University, Bournemouth, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Computing and Informatics, Bournemouth University, Bournemouth, United Kingdom","institution_ids":["https://openalex.org/I9300472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091627990","display_name":"Joel E. Fischer","orcid":"https://orcid.org/0000-0001-8878-2454"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Joel E. Fischer","raw_affiliation_strings":["School of Computer Science, University of Nottingham, Nottingham, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Nottingham, Nottingham, United Kingdom","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065527041","display_name":"Sarvapali D. Ramchurn","orcid":"https://orcid.org/0000-0001-9686-4302"},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sarvapali D. Ramchurn","raw_affiliation_strings":["Electronics and Computer Science, University of Southampton, Southampton, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Electronics and Computer Science, University of Southampton, Southampton, United Kingdom","institution_ids":["https://openalex.org/I43439940"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082051228","display_name":"Mohammad Divband Soorati","orcid":"https://orcid.org/0000-0001-6954-1284"},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mohammad D. Soorati","raw_affiliation_strings":["Electronics and Computer Science, University of Southampton, Southampton, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Electronics and Computer Science, University of Southampton, Southampton, United Kingdom","institution_ids":["https://openalex.org/I43439940"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016996700","display_name":"Blair Archibald","orcid":"https://orcid.org/0000-0003-3699-6658"},"institutions":[{"id":"https://openalex.org/I7882870","display_name":"University of Glasgow","ror":"https://ror.org/00vtgdb53","country_code":"GB","type":"education","lineage":["https://openalex.org/I7882870"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Blair Archibald","raw_affiliation_strings":["School of Computing Science, University of Glasgow, Glasgow, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Computing Science, University of Glasgow, Glasgow, United Kingdom","institution_ids":["https://openalex.org/I7882870"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042005513","display_name":"Michele Sevegnani","orcid":"https://orcid.org/0000-0001-6773-9481"},"institutions":[{"id":"https://openalex.org/I7882870","display_name":"University of Glasgow","ror":"https://ror.org/00vtgdb53","country_code":"GB","type":"education","lineage":["https://openalex.org/I7882870"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Michele Sevegnani","raw_affiliation_strings":["School of Computing Science, University of Glasgow, Glasgow, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Computing Science, University of Glasgow, Glasgow, United Kingdom","institution_ids":["https://openalex.org/I7882870"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5046656483"],"corresponding_institution_ids":["https://openalex.org/I43439940"],"apc_list":null,"apc_paid":null,"fwci":0.6813,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.71977531,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"172","last_page":"176"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10260","display_name":"Software Engineering Research","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.8368746042251587},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7464085817337036},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.6667273640632629},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.6446713209152222},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5879782438278198},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5327019691467285},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.5244239568710327},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.4921683669090271},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4485074281692505},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.43364837765693665},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.43280819058418274},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3720771074295044},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.32716572284698486},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.2921833097934723},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.24091047048568726},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.23658788204193115},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22454527020454407},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.14187470078468323},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11831977963447571}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.8368746042251587},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7464085817337036},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.6667273640632629},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.6446713209152222},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5879782438278198},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5327019691467285},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.5244239568710327},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.4921683669090271},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4485074281692505},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.43364837765693665},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.43280819058418274},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3720771074295044},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.32716572284698486},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2921833097934723},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.24091047048568726},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.23658788204193115},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22454527020454407},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.14187470078468323},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11831977963447571},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1145/3610978.3640725","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3610978.3640725","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3610978.3640725","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2401.11945","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2401.11945","pdf_url":"https://arxiv.org/pdf/2401.11945","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:eprints.bournemouth.ac.uk:39774","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.bournemouth.ac.uk/39774/1/3610978.3640725.pdf","source":{"id":"https://openalex.org/S4306400187","display_name":"Bournemouth University Research Online (Bournemouth University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9300472","host_organization_name":"Bournemouth University","host_organization_lineage":["https://openalex.org/I9300472"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"},{"id":"pmh:oai:eprints.soton.ac.uk:488273","is_oa":true,"landing_page_url":"https://eprints.soton.ac.uk/488273/1/HRI24lbr_1074.pdf","pdf_url":"https://eprints.soton.ac.uk/488273/2/3610978.3640725.pdf","source":{"id":"https://openalex.org/S4306401020","display_name":"ePrints Soton (University of Southampton)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I43439940","host_organization_name":"University of Southampton","host_organization_lineage":["https://openalex.org/I43439940"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:nottingham-repository.worktribe.com:32468169","is_oa":true,"landing_page_url":"https://nottingham-repository.worktribe.com/output/32468169","pdf_url":"https://nottingham-repository.worktribe.com/file/32468169/1/3610978.3640725","source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"publishedVersion"}],"best_oa_location":{"id":"doi:10.1145/3610978.3640725","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3610978.3640725","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3610978.3640725","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},"sustainable_development_goals":[{"score":0.49000000953674316,"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals"}],"awards":[{"id":"https://openalex.org/G301723715","display_name":null,"funder_award_id":"EP/V00784X/1","funder_id":"https://openalex.org/F4320314731","funder_display_name":"UK Research and Innovation"},{"id":"https://openalex.org/G501491085","display_name":null,"funder_award_id":"EP/W004364/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G578418305","display_name":"UKRI Trustworthy Autonomous Systems Hub","funder_award_id":"EP/V00784X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8014162795","display_name":"Smart Solutions Towards Cellular-Connected Unmanned Aerial Vehicles System","funder_award_id":"EP/W004364/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8251700772","display_name":null,"funder_award_id":"V00784X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8452545418","display_name":null,"funder_award_id":"unknown","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G905227802","display_name":null,"funder_award_id":"EP/Y009800/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320314731","display_name":"UK Research and Innovation","ror":"https://ror.org/001aqnf71"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4391158817.pdf","grobid_xml":"https://content.openalex.org/works/W4391158817.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W19399978","https://openalex.org/W1936348630","https://openalex.org/W2022106311","https://openalex.org/W2104083704","https://openalex.org/W2268732417","https://openalex.org/W2471883051","https://openalex.org/W2474505510","https://openalex.org/W2568156289","https://openalex.org/W2608239929","https://openalex.org/W2786819761","https://openalex.org/W2899532715","https://openalex.org/W3031838646","https://openalex.org/W3035005794","https://openalex.org/W3206223797","https://openalex.org/W4211057885","https://openalex.org/W4230569261","https://openalex.org/W4286588438","https://openalex.org/W4289294865","https://openalex.org/W4291109519","https://openalex.org/W4292998671","https://openalex.org/W4360888003","https://openalex.org/W4366590474","https://openalex.org/W4382135822","https://openalex.org/W4383213641","https://openalex.org/W4388624077","https://openalex.org/W4388624082","https://openalex.org/W4391405860","https://openalex.org/W4392100152"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4379143281","https://openalex.org/W2743170747","https://openalex.org/W4385625905","https://openalex.org/W2133833450"],"abstract_inverted_index":{"Formal":[0],"Modelling":[1],"is":[2],"often":[3],"used":[4,50],"as":[5],"part":[6],"of":[7,13,55,81,89,128,141,145],"the":[8,53,75,82,87,94,107,115,122,135,139,143,149,167,171],"design":[9],"and":[10,43,117,148],"testing":[11],"process":[12],"software":[14],"development":[15],"to":[16,51,62,68,71],"ensure":[17],"that":[18,45,156],"components":[19],"operate":[20,63],"within":[21],"suitable":[22],"bounds":[23],"even":[24],"in":[25,39,93],"unexpected":[26],"circumstances.":[27],"In":[28,74],"this":[29,46,101],"paper,":[30],"we":[31],"use":[32],"predictive":[33],"formal":[34],"modelling":[35,158],"(PFM)":[36],"at":[37,159],"runtime":[38,160],"a":[40,64],"human-swarm":[41,56,129],"mission":[42,108,116,124,162],"show":[44,155],"integration":[47],"can":[48],"be":[49],"improve":[52],"performance":[54,130,163],"teams.":[57],"We":[58],"recruited":[59],"60":[60],"participants":[61],"simulated":[65],"aerial":[66],"swarm":[67],"deliver":[69],"parcels":[70],"target":[72],"locations.":[73],"PFM":[76,157],"condition,":[77,96],"operators":[78,97,104],"were":[79],"informed":[80],"estimated":[83],"completion":[84,137],"times":[85],"given":[86],"number":[88,140,144],"drones":[90,113],"deployed,":[91],"whereas,":[92],"No-PFM":[95],"did":[98],"not":[99],"have":[100],"information.":[102],"The":[103,126],"could":[105],"control":[106],"by":[109],"adding":[110],"or":[111,120,170],"removing":[112],"from":[114],"thereby,":[118],"increasing":[119],"decreasing":[121],"overall":[123],"cost.":[125],"evaluation":[127],"relied":[131],"on":[132],"four":[133],"metrics:":[134],"task":[136],"time,":[138],"agents,":[142],"completed":[146],"tasks,":[147],"cost":[150],"per":[151],"task.":[152],"Our":[153],"results":[154],"improves":[161],"without":[164],"significantly":[165],"affecting":[166],"operator's":[168],"workload":[169],"system's":[172],"usability.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}