This paper describes a usability study designed to assess ease of
use, user satisfaction, and performance of a mobile robot mission
specification system. The software under consideration,
MissionLab, allows users to specify a robot mission as well as
compile it, execute it, and control the robot in real-time. In this
work, a new automated mission repair mechanism that aids users
in correcting faulty missions was added to the system. This
mechanism was compared to an older version in order to better
inform the development process, and set a direction for future
improvements in usability
