  We present an augmented reality human-swarm interface that combines two
modalities of interaction: environment-oriented and robot-oriented. The
environment-oriented modality allows the user to modify the environment (either
virtual or physical) to indicate a goal to attain for the robot swarm. The
robot-oriented modality makes it possible to select individual robots to
reassign them to other tasks to increase performance or remedy failures.
Previous research has concluded that environment-oriented interaction might
prove more difficult to grasp for untrained users. In this paper, we report a
user study which indicates that, at least in collective transport,
environment-oriented interaction is more effective than purely robot-oriented
interaction, and that the two combined achieve remarkable efficacy.
