The purpose of this work is to review research in the domain of unmanned vehicle (UV) operations and to provide recommendations regarding the human-to-robot ratio for optimal performance. This begins with a discussion of how remote perception, multitasking, and workload can contribute to the difficulty of performing UV operations. Then, recommendations are provided in order to address three different aspects of the human-to-robot ratio: (a) human-centric factors, (b) robot-centric factors, and (c) collaborative human-robot factors. These recommendations begin by focusing on a team of high-ability operators that execute role-specific behaviors, and processes are supported by systems that are designed to support appropriate coordination. Additional UVs should be added with the intention of increasing unique capabilities and reliable autonomy. Finally, recommendations address methods collaboration that work within the perceptual limitation of humans and UVs.
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