## 2 Background and Literature Review
### Human Autonomy Teamwork (HAT)  
Similar to HMT, Human-autonomy teamwork (HAT) is a process in which humans work independently towards a common goal, as does the autonomous agents, but as a team. Here, autonomous agents take a unique role or task and work independently with human team members to achieve a shared objective. During the 90s, HAT was a concept related to autonomous agents playing roles as genuine team players [24]. However, most recently, HAT has been frequently used in association with highly intelligent agents based on AI, machine learning, and cognitive modeling that are as competent as humans. Such work has directed the implementation of human-autonomy collaboration from concept to practice [25; 26; 27; 28; 29]. A lot of work during the 90s and recently have been done on the HAT. Researchers from [30] believe that for the HAT to be synchronous, the agent must communicate effectively with human team members. To study the HAT process, they carried out an experiment simulating a synthetic unmanned aerial system environment, in which teammates were required to take effective photos of critical target waypoints by interacting with each other using a text message. In their work, they defined a team of three. Two were humans acting as navigator and photographer while one was a synthetic teammate who acted as a pilot, and the experiment was developed using the ACT-R cognitive modeling architecture. At the beginning of the experiment, human teammates were informed that one of their teammates was synthetic, and to communicate with it, they had to send the message in a very constructive way with no mistake. During the evaluation, they found that the performance score was lower for the synthetic team than for that of the other two teams and concluded that the synchrony's quality and effectiveness is more important than the quantity or frequency of synchrony for HAT to be more successful. They also pointed out that effective communication and effective coordination among the team are crucial for effective team synchrony in a HAT. Figure 3: Visualization of research publications in the field of HMT from 2008 to 2020 as per web of sciences ©2020 Clarivate (reproduced from [5]). The researchers from [31] proposed to use design patterns to reduce commonly occurring HAT situations. They investigated the feasibility of reduced crew operations (RCO) for transport category aircraft in their work. The process involved three fundamental human roles: the pilot on board (POB), the dispatcher, and a ground pilot. The POB served as a captain and was responsible for managing automation and ground support. Onboard automation helped POB with flight management system input, assisting with checklists, and validating inputs. While ground-based automation assisted the dispatcher with such tasks as preflight planning, monitoring aircraft positions, and enroots reroutes. The dispatcher also helped POBs with reducing their workload. Similarly, automation helped the dispatcher create preflight briefings, flight path monitoring, and optimizing reroutes. Automation was also responsible for monitoring all flights and alerting the dispatcher for any assistance. In addition, the ground pilot also had remote access to fly the aircraft as needed. During this process, it was analyzed that defining design patterns help describe and prescribe human-autonomy relationships. Another researcher [32] in their study analyzed the role of interaction in Team Situation Awareness (TSA) and team performance to understand HAT. Initially, they analyzed team verbal behaviors such as pushing and pulling information across conditions of human-autonomy teams and human-human teams and further analyzed their relationship with TSA and team performance using Growth Curve Modeling. Good teamwork was intended to be predict the needs of teammates and then push information before requested. In their experimental task, participants were instructed to push information to others and master the specific timing of sharing of information to the intended recipient.