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Prytz, E., Estgren, C., Thellman, S. & Brodin, W. (2026). Obemannade system för räddningstjänst under höjd beredskap: En utvärdering från metodtester i Kiruna 2025. Linköping University Electronic Press
Open this publication in new window or tab >>Obemannade system för räddningstjänst under höjd beredskap: En utvärdering från metodtester i Kiruna 2025
2026 (Swedish)Report (Other academic)
Abstract [sv]

Sveriges civila försvar befinner sig i en snabb utvecklingsfas där räddningstjänstens roll under höjd beredskap (RUHB) får allt större betydelse. Det aktuella arbetet har genomförts inom ramen för MSB:s RUHB-uppdrag och syftade till att utvärdera hur obemannade system – framför allt fjärrstyrda obemannade luftfarkoster och markfordon (UAS och UGV) – kan öka säkerhet, effektivitet och uthållighet i räddningstjänstens insatser. Under ett större metodförsök i Kiruna 2025 testades ett flertal plattformar i realistiska scenarier för att bedöma deras operativa nytta.

Resultaten visade att obemannade system har stor potential som förmågehöjande verktyg, särskilt för informationsinhämtning och riskbedömning i farliga miljöer. Drönare och markrobotar kan snabbt skapa en nulägesbild och minska exponering för risker. Samtidigt identifierades ett antal utvecklingsområden som behöver adresseras för att tekniken ska kunna införas brett. Bland dessa märks behovet av förbättrad informationsdelning, både tekniskt (t.ex. strömning av video till ledningssystem) och organisatoriskt (tydliga mottagare och rutiner), tillgång till systematiska tester och nationella testmiljöer för att jämföra plattformarnas prestanda och robusthet under svenska förhållanden, samt vägledning för när tekniken är mogen att användas i skarpa insatser. Det bör även utredas vilka mätinstrument och moduler för CBRNE-detektion som kan användas, och vilken nytta mindre, enklare robotar kan ge vid datainsamling i svåråtkomliga miljöer eller för att skapa kommunikationsvägar.

En viktig strategisk slutsats är att Sverige bör bygga vidare på de tydliga styrkor som redan finns – framför allt snabba, små och kostnadseffektiva plattformar – samtidigt som en tydlig nulägesbild över hur räddningsrobotar används i dag hos svensk räddningstjänst bör skapas, samt att ett nätverk för kunskaps- och erfarenhetsdelning om räddningsrobotik bör etableras. Detta skulle möjliggöra gemensamma standarder, stärka operatörernas kompetens och på sikt bidra till en mer robust och teknikstödjande räddningstjänst under höjd beredskap. Slutligen bör det inom RUHB utredas vad som ska utgöra basförmåga, förstärkt förmåga och nationell resursförmåga samt hur dessa bäst kan organiseras och utrustas.

Place, publisher, year, edition, pages
Linköping University Electronic Press, 2026. p. 92
Series
CARER Report ; 53
National Category
Public Administration Studies
Identifiers
urn:nbn:se:liu:diva-221723 (URN)10.3384/9789181185133 (DOI)9789181185133 (ISBN)
Note

Granskning:

Extern granskning av läsare på Myndigheten för Civilt Försvar (uppdragsgivare/finansiär), samt intern granskning av annan forskare inom CARER. Namn angivna i rapporten. 

Finansiering:

Forskningsbidrag från Myndigheten för Civilt Försvar (MCF), samt interna medel från forskningsmiljön CARER

Available from: 2026-03-13 Created: 2026-03-06 Last updated: 2026-08-11Bibliographically approved
Thellman, S. (2025). Does AI have beliefs?: A case for similarity-based criteria of belief ascription. In: SweCog 2025 Conference, Book of Abstracts: . Paper presented at SweCog 2025 Conference: Swedish Cognitive Science Society, 7–9 October 2025. Swedish Cognitive Science Society
Open this publication in new window or tab >>Does AI have beliefs?: A case for similarity-based criteria of belief ascription
2025 (English)In: SweCog 2025 Conference, Book of Abstracts, Swedish Cognitive Science Society , 2025Conference paper, Oral presentation with published abstract (Other academic)
Place, publisher, year, edition, pages
Swedish Cognitive Science Society, 2025
Identifiers
urn:nbn:se:liu:diva-220665 (URN)
Conference
SweCog 2025 Conference: Swedish Cognitive Science Society, 7–9 October 2025
Available from: 2026-01-21 Created: 2026-01-21 Last updated: 2026-01-21Bibliographically approved
Thorslund, B., Krznaric, D. & Thellman, S. (2025). The Impact of Weather Conditions on Performance and Perceived Risk in Simulated Driving Situations. In: Human Factors and Ergonomics Society European Chapter: Annual Meeting 2025. Paper presented at HFES Europe 2025, Bologna, Italy, April 9-11, 2025. Bologna
Open this publication in new window or tab >>The Impact of Weather Conditions on Performance and Perceived Risk in Simulated Driving Situations
2025 (English)In: Human Factors and Ergonomics Society European Chapter: Annual Meeting 2025, Bologna, 2025Conference paper, Poster (with or without abstract) (Refereed)
Abstract [en]

Young drivers are a high-risk group for road traffic accidents, highlighting the need for advanced methods to assess and improve risk awareness. With driving simulators being considered as a possible mandatory part of the Swedish driving test, this study examines the effects of different weather conditions on performance and perceived risk during simulator-based driving tests.

26 participants (mean age = 19, SD = 2, 12 male, 11 female, and 3 unspecified) mainly recruited at an automotive high school took part in the study. All participants completed 14 driving situations in a fixed-based simulator. Weather conditions—daytime, nighttime, rain, and fog—were varied in a rolling scheme, with 3–4 traffic situations per condition. Participants, divided into four groups, experienced all weather conditions. 

Outcomes were recorded as pass/fail and supplemented with self-assessment ratings of performance and perceived risk for each situation. There was a statistically significant effect of weather conditions on driving performance, F(3, 69) = 2.973, p < .05. The test performance score (M ± SD) was highest in daytime (.64 ± .37) and nighttime (.64 ± .34) followed by rain (.58 ± .38), and fog (.43 ± .40). However, post hoc analysis with a Bonferroni adjustment indicated no statistically significant pairwise differences. There was no statistically significant effect of weather conditions on self-assessed driving performance or on perceived risk. This study offers new insights into using light and weather conditions in simulator-based driver assessment.

Place, publisher, year, edition, pages
Bologna: , 2025
National Category
Transport Systems and Logistics
Identifiers
urn:nbn:se:liu:diva-213249 (URN)
Conference
HFES Europe 2025, Bologna, Italy, April 9-11, 2025
Available from: 2025-04-25 Created: 2025-04-25 Last updated: 2025-04-29
Marsja, E., Thellman, S. & Anund, A. (2025). Trust in automated shuttle buses predicts intention to use and behavioral expectations. Transportation Research Interdisciplinary Perspectives, 33, Article ID 101601.
Open this publication in new window or tab >>Trust in automated shuttle buses predicts intention to use and behavioral expectations
2025 (English)In: Transportation Research Interdisciplinary Perspectives, E-ISSN 2590-1982, Vol. 33, article id 101601Article in journal (Refereed) Published
Abstract [en]

Automated shuttle buses (ASBs) hold significant potential for improving public transportation by enhancing urban mobility and sustainability. However, public trust in ASB and people’s intention to use them may depend on factors such as age and expectations of ASB behavior. This study examined how trust in ASBs’ capabilities influences the intention to use them and expectations of their braking behavior, specifically from the perspective of pedestrians and cyclists. Additionally, the study explored how age affects this relationship. Five hundred participants completed an online questionnaire assessing trust and behavioral intention to use ASBs. Participants then viewed video scenarios depicting ASBs interacting with pedestrians and cyclists and reported their expectations regarding the ASBs’ braking responses to prevent collisions. Structural equation modeling (SEM) revealed that trust positively predicted both the intention to use ASBs and expectations of their braking performance. Age was negatively associated with trust but did not predict intention to use or braking expectations. These findings show that trust is a critical factor in ASB adoption across age groups. To foster trust and encourage the adoption of ASBs, developers, providers, and policymakers, should prioritize delivering reliable, transparent, and user-friendly information and services that demonstrate ASBs’ safety and performance.

Place, publisher, year, edition, pages
Elsevier BV, 2025
Keywords
Autonomous vehicles, Self-driving, Behavioral intention to use, Trust, Expectations, Vulnerable road users, Structural equation modeling, automation, autonomous shuttle bus
National Category
Psychology (Excluding Applied Psychology)
Identifiers
urn:nbn:se:liu:diva-216721 (URN)10.1016/j.trip.2025.101601 (DOI)001724109800001 ()2-s2.0-105014004703 (Scopus ID)
Available from: 2025-08-22 Created: 2025-08-22 Last updated: 2026-06-04
Babel, F., Thellman, S., Pelikan, H., Ippoliti, H. S. & Ziemke, T. (2024). 2nd Workshop on Cars As Social Agents (CarSA): Interdisciplinary Perspectives on Human-Vehicle Interaction. In: ADJUNCT PROCEEDINGS OF THE 13TH NORDIC CONFERENCE ON HUMAN-COMPUTER INTERACTION, NORDICHI 2024: . Paper presented at 13th Nordic Conference on Human-Computer Interaction (NordiCHI), Uppsala, SWEDEN, oct 13-16, 2024. ASSOC COMPUTING MACHINERY, Article ID 45.
Open this publication in new window or tab >>2nd Workshop on Cars As Social Agents (CarSA): Interdisciplinary Perspectives on Human-Vehicle Interaction
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2024 (English)In: ADJUNCT PROCEEDINGS OF THE 13TH NORDIC CONFERENCE ON HUMAN-COMPUTER INTERACTION, NORDICHI 2024, ASSOC COMPUTING MACHINERY , 2024, article id 45Conference paper, Published paper (Refereed)
Abstract [en]

As autonomous vehicles (AVs) emerge as new agents in traffic, it becomes imperative to understand how they can be introduced effectively and acceptably. AVs enter existing socio-technical systems, where members of various social communities are already present, including residents rushing to work, tourists strolling around, and workers cleaning the streets. This workshop seeks to explore the intricate dynamics of introducing AVs into established social systems within shared spaces. It aims to understand what the needs of pedestrians, cyclists, drivers, and passengers are, and how they interact with each other when AVs enter the social system. Through presentations and interactive activities, this workshop will provide a platform for researchers, practitioners, and other stakeholders to exchange insights, share experiences, and co-create strategies relevant to the integration of AVs into the social systems of shared spaces. The workshop aims to discuss the benefits, risks, and design challenges associated with integrating this emerging technology into our everyday lives.

Place, publisher, year, edition, pages
ASSOC COMPUTING MACHINERY, 2024
Keywords
human-vehicle interaction; human-computer interaction; human-robot interaction; explainable AI; mental state attribution; autonomous vehicles
National Category
Information Systems, Social aspects
Identifiers
urn:nbn:se:liu:diva-210075 (URN)10.1145/3677045.3685460 (DOI)001331863500044 ()9798400709654 (ISBN)
Conference
13th Nordic Conference on Human-Computer Interaction (NordiCHI), Uppsala, SWEDEN, oct 13-16, 2024
Available from: 2024-11-27 Created: 2024-11-27 Last updated: 2025-04-28
Thorslund, B., Thellman, S. & Selander, H. (2024). An Evaluation of Driver Education Goal Fulfillment in a Simulator-Based Driver Screening Test. In: Jonas Olofsson, Teodor Jernsäther-Ohlsson, Sofia Thunberg, Linus Holm, Erik Billing (Ed.), PROCEEDINGS OF THE 19TH SWECOG CONFERENCE: . Paper presented at THE 19TH SWECOG CONFERENCE, Stockholm, 10 - 11 October, 2024 (pp. 155-160).
Open this publication in new window or tab >>An Evaluation of Driver Education Goal Fulfillment in a Simulator-Based Driver Screening Test
2024 (English)In: PROCEEDINGS OF THE 19TH SWECOG CONFERENCE / [ed] Jonas Olofsson, Teodor Jernsäther-Ohlsson, Sofia Thunberg, Linus Holm, Erik Billing, 2024, p. 155-160Conference paper, Published paper (Refereed)
Series
Skövde University Studies in Informatics, ISSN 1653-2325 ; 1
National Category
Other Engineering and Technologies
Identifiers
urn:nbn:se:liu:diva-208718 (URN)9789198903812 (ISBN)
Conference
THE 19TH SWECOG CONFERENCE, Stockholm, 10 - 11 October, 2024
Available from: 2024-10-21 Created: 2024-10-21 Last updated: 2025-04-28
Thellman, S., Koenders, K., Neerincx, A. & de Graaf, M. (2024). Does the Robot Know It Is Being Distracted? Attitudinal and Behavioral Consequences of Second-Order Mental State Attribution in HRI. In: 2024 33RD IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, ROMAN 2024: . Paper presented at 33rd IEEE International Conference on Robot and Human Interactive Communication (IEEE RO-MAN) - Embracing Human-Centered HRI, Pasadena, CA, aug 26-30, 2024 (pp. 1134-1141). IEEE
Open this publication in new window or tab >>Does the Robot Know It Is Being Distracted? Attitudinal and Behavioral Consequences of Second-Order Mental State Attribution in HRI
2024 (English)In: 2024 33RD IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, ROMAN 2024, IEEE , 2024, p. 1134-1141Conference paper, Published paper (Refereed)
Abstract [en]

People's ascription of intentional agency to robots necessitates understanding how, when, and why people attribute robot behavior to underlying intentional states. While many studies explored mind attribution to robots including its determinants and consequences, little attention has been given to the attribution of second-order mental states, such as a robot's beliefs about people's intentions during interactions. In an online study (n = 155), participants watched a video of a humanoid robot tracking a ball hidden under one of two cups. 19% of participants predicted that the robot could correctly locate the ball after it was displaced twice by a person deliberately distracting the robot, indicating implicit attribution of second-order beliefs to the robot. These implicit attributions influenced participants' actions in a subsequent interactive game with a virtual counterpart of the robot but did not affect their explicit assessments of the robot's second-order reasoning. In contrast, observing the robot demonstrate second-order reasoning by correctly identifying the ball's location affected participants' explicit attributions but not their behavior in the interactive game. This reveals a complex interplay between implicit and explicit attribution processes in how people interpret robot behavior.

Place, publisher, year, edition, pages
IEEE, 2024
Series
IEEE RO-MAN, ISSN 1944-9445
National Category
Computer graphics and computer vision
Identifiers
urn:nbn:se:liu:diva-211010 (URN)10.1109/RO-MAN60168.2024.10731278 (DOI)001348918600145 ()2-s2.0-85209790363 (Scopus ID)9798350375039 (ISBN)9798350375022 (ISBN)
Conference
33rd IEEE International Conference on Robot and Human Interactive Communication (IEEE RO-MAN) - Embracing Human-Centered HRI, Pasadena, CA, aug 26-30, 2024
Note

Funding Agencies|Swedish Research Council (VR) [2022-04602]

Available from: 2025-01-17 Created: 2025-01-17 Last updated: 2025-04-28
Thorslund, B., Thellman, S., Nyberg, V. & Selander, H. (2024). Simulator-based driving test prescreening as a complement to driver testing - Toward safer and more risk-aware drivers. Accident Analysis and Prevention, 194, Article ID 107335.
Open this publication in new window or tab >>Simulator-based driving test prescreening as a complement to driver testing - Toward safer and more risk-aware drivers
2024 (English)In: Accident Analysis and Prevention, ISSN 0001-4575, E-ISSN 1879-2057, Vol. 194, article id 107335Article in journal (Refereed) Published
Abstract [en]

Young people represent a high-risk group of drivers and the prevalence of road traffic crashes among young drivers is high. Thus, to increase traffic safety, it is essential to ensure that new drivers are both sufficiently educated in and assessed for risk awareness.The aim of this study was to examine the possibility and potential benefit of using a driving simulator screening test as a complement to the existing on-road driving test. The main idea is to detect drivers who are not ready to proceed to the driving test.A comparative study was performed with participants who passed and failed a simulator test and an on-road driving test, respectively. A comparison between subjective and objective measures of performance and risk was also included. A driving simulator was placed at a traffic school and customers were recruited as participants. In total, 70 participants took part in the study and the simulated drive consisted of rural roads, urban traffic, and motorways with 16 different scenarios, constructed from the second level of the GDE matrix, to examine driving behavior, attention, and risk perception.The results show that with a screening test in a driving simulator, it is possible to detect drivers who consider themselves ready to take a driving test, but who have not yet reached the level of risk awareness required to be a safe driver. Test scenarios should be suited to detect deficiencies in risk awareness, test different levels of the GDE matrix and, to complement the driving test, be difficult to assess in an on-road driving test. Deficiencies in self-evaluation that are well-known among young drivers are again confirmed. To practice self-evaluation, the driving simulator is suggested as a pedagogical tool, linked to the GDE matrix.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD, 2024
Keywords
Traffic safety; Driver education; Driving test; Driving simulator; Risk awareness; GDE matrix; Goals for Driver Education; GADGET matrix
National Category
Infrastructure Engineering
Identifiers
urn:nbn:se:liu:diva-199235 (URN)10.1016/j.aap.2023.107335 (DOI)001093254500001 ()37847992 (PubMedID)2-s2.0-85174850474 (Scopus ID)
Note

Funding Agencies|Swedish Transport Administration (TRV) grant [2022/31998]

Available from: 2023-11-22 Created: 2023-11-22 Last updated: 2025-04-29
Babel, F., Thellman, S. & Ziemke, T. (2024). Who’s Behind the Service Robot? The Impact of Avatars on Priority Decisions. In: Palinko, O. et al. (Ed.), : . Paper presented at International Conference on Social Robotics 2024.
Open this publication in new window or tab >>Who’s Behind the Service Robot? The Impact of Avatars on Priority Decisions
2024 (English)In: / [ed] Palinko, O. et al., 2024Conference paper, Published paper (Refereed)
Abstract [en]

Service robots, like delivery or telepresence robots, often act as proxies for people, though this representation is not always obvious to observers. For instance, when a delivery robot cuts in line at a grocery store, the identity of the person it represents matters. The lower social status often assigned to service robots (“it’s just a robot, it can wait”) can become problematic in human-robot conflicts, if the represented individual (e.g., senior citizen) is treated unfairly. Previous research indicates that people tend to overlook the human behind the robot, potentially disadvantaging the service recipient. This study aimed to determine whether people are more likely to grant priority to a delivery robot when informed about the person it represents. In a between-subjects virtual reality (VR) experiment the recipient was either made apparent with an avatar or not and participants had to choose if they would give priority to a delivery robot in a grocery store queue. Results showed that while the presence of the avatar increased participants’ self-reported consideration of the robot’s human recipient, it did not lead to higher compliance, as the willingness to grant priority was unexpectedly high in both conditions. The results suggest that social desirability and the novelty of human-robot interaction (HRI) may explain these outcomes and future research is discussed.

Series
Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349 ; 15561
Keywords
human-robot interaction, service robots, avatar, virtual reality, priority decision, conflict, social norms
National Category
Robotics and automation Human Computer Interaction
Identifiers
urn:nbn:se:liu:diva-213329 (URN)
Conference
International Conference on Social Robotics 2024
Available from: 2025-04-28 Created: 2025-04-28 Last updated: 2025-05-07
Thellman, S., Ageskar, O., Allander, I., Degerstedt, M., Hyland, O., Nguyen, P., . . . Ziemke, T. (2023). A Survey of Attributions and Preferences Regarding Higher-Order Mental States in Artificial Agents. In: PROCEEDINGS OF THE 11TH CONFERENCE ON HUMAN-AGENT INTERACTION, HAI 2023: . Paper presented at 11th International Conference on Human-Agent Interaction (HAI), Chalmers Univ Technol, Gothenburg, SWEDEN, dec 04-07, 2023 (pp. 97-104). ASSOC COMPUTING MACHINERY
Open this publication in new window or tab >>A Survey of Attributions and Preferences Regarding Higher-Order Mental States in Artificial Agents
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2023 (English)In: PROCEEDINGS OF THE 11TH CONFERENCE ON HUMAN-AGENT INTERACTION, HAI 2023, ASSOC COMPUTING MACHINERY , 2023, p. 97-104Conference paper, Published paper (Refereed)
Abstract [en]

Understanding how people attribute behavior to underlying mental states is crucial to the study of human social interactions. Previous research has established that people rely on attributing mental states to interpret and interact with artificial agents. For example, a pedestrian encountering a driverless vehicle at a crosswalk might view the vehicle as knowing (or not) that there is a pedestrian in front of it. Nevertheless, little attention has been devoted to investigating people's attributions of higher-order mental states, i.e., mental states that are about the mental states of others (e.g., the vehicle's beliefs about the pedestrian's intentions). Addressing this research gap, the present study conducted a survey to explore people's attributions and preferences concerning higher-order mental states in three types of artificial agents (AI chatbot, virtual assistant, and self-driving car), alongside two human agents (participants themselves, referred to as you, and five-year-old child). The survey revealed that: (1) artificial agents, in contrast to humans, may be perceived as more likely to have higher-order mental states than first-order mental states, depending on the purpose or function of the agent; (2) people may prefer some artificial agents to have mental states of a particular order (but not others); (3) attributions and preferences regarding mental states in artificial agents do not always match. The study also contributes insights regarding the methodological challenge of constructing a survey that effectively captures participants' higher-order attributions while minimizing excessive cognitive demands. We posit that human-agent interaction research and design stand to benefit from further exploration of people's attributions and preferences regarding higher-order mental states in artificial agents.

Place, publisher, year, edition, pages
ASSOC COMPUTING MACHINERY, 2023
Keywords
mental state attribution; theory of mind; human-agent interaction
National Category
Sociology (Excluding Social Work, Social Anthropology, Demography and Criminology)
Identifiers
urn:nbn:se:liu:diva-201066 (URN)10.1145/3623809.3623897 (DOI)001148034200014 ()2-s2.0-85180126387 (Scopus ID)9798400708244 (ISBN)
Conference
11th International Conference on Human-Agent Interaction (HAI), Chalmers Univ Technol, Gothenburg, SWEDEN, dec 04-07, 2023
Note

Funding Agencies|ELLIIT, the Excellence Center at Linkoping-Lund in Information Technology; Swedish Research Council (VR) [2022-04602]

Available from: 2024-02-23 Created: 2024-02-23 Last updated: 2026-03-04
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0003-0098-5391

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