Multistage cognitive dynamics for team-based teleoperation in challenging environments

Excavation in urban areas presents high risks, particularly underground utility strikes, which can lead to significant disruptions and safety hazards. This paper investigates the cognitive dynamics of teleoperated excavation, focusing on how operator-spotter communication and environmental complexity impact cognitive load, attention allocation, and task performance in high-stress settings. Excavation scenarios are simulated in baseline and challenging urban environments, involving 56 subjects examined key metrics, including attention resources, cognitive workload, situational awareness, and unsafe behaviors. Findings show high perceptual and cognitive-control loads in a complex environment impair situational awareness, extend task completion times, and increase communication error rates. Results also highlight hand signals reduce cognitive load, enhancing focus on peripheral cues, whereas verbal signals help operators concentrate on task-critical elements, lowering collision risks. This paper advances the understanding of human-machine collaboration by building on a multistage cognitive framework that provides insights into team communication and safety for teleoperation in challenging environments.