Trajectories of attention and control in human-machine interactions: the case of swarms in maritime search and rescue

This paper presents a novel framework for modelling attention and cognitive control in human-swarm interaction (HSI) and Human-Autonomy Teaming (HAT) more broadly. Using a maritime search and rescue (SAR) scenario as a case study, we integrate the Joint Control Framework (JCF) with the phenomenological Sphere of Attention (SOA) model to analyse how swarm operators' attention might have to shift across multiple levels of abstraction and system components in a future-oriented design scenario. Our analysis highlights the operators' trajectories of attention as they move between high-level mission goals and specific low-level system control actions. The resulting model suggests that the required attention shifts would be primarily serial, allowing for smooth transitions between tasks, while radical shifts may indicate breakdowns in information presentation or system support. We discuss the implications of our framework for designing future HSI systems and user interfaces, emphasising the need for systems that align with operators' attentional demands, thus supporting more effective and intuitive interactions in complex, dynamic environments. Future work will need to include further evaluation of the framework's broader applicability and relationship to cognitive constructs in Ergonomics.