# Towards Bi-Directional Communication in Human-Swarm Teaming: A Survey

arXiv: https://arxiv.org/abs/1803.03093 · HTML: https://mlsanity.com/paper/1803.03093/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 4 Mar 2018.

## Built on by (most cited first, 1 of 1)

- [Onto4MAT: A Swarm Shepherding Ontology for Generalised Multi-Agent Teaming](https://mlsanity.com/paper/2203.12955/) (2022)

## Abstract (arXiv)

Swarm systems consist of large numbers of robots that collaborate autonomously. With an appropriate level of human control, swarm systems could be applied in a variety of contexts ranging from search-and-rescue situations to Cyber defence. The two decision making cycles of swarms and humans operate on two different time-scales, where the former is normally orders of magnitude faster than the latter. Closing the loop at the intersection of these two cycles will create fast and adaptive human-swarm teaming networks. This paper brings desperate pieces of the ground work in this research area together to review this multidisciplinary literature. We conclude with a framework to synthesize the findings and summarize the multi-modal indicators needed for closed-loop human-swarm adaptive systems.