  In this paper, we investigate how to design an effective interface for remote
multi-human multi-robot interaction. While significant research exists on
interfaces for individual human operators, little research exists for the
multi-human case. Yet, this is a critical problem to solve to make complex,
large-scale missions achievable in which direct human involvement is impossible
or undesirable, and robot swarms act as a semi-autonomous agents. This paper's
contribution is twofold. The first contribution is an exploration of the design
space of computer-based interfaces for multi-human multi-robot operations. In
particular, we focus on information transparency and on the factors that affect
inter-human communication in ideal conditions, i.e., without communication
issues. Our second contribution concerns the same problem, but considering
increasing degrees of information loss, defined as intermittent reception of
data with noticeable gaps between individual receipts. We derived a set of
design recommendations based on two user studies involving 48 participants.
