“…One focus area for this work is collaborative spatial route planning. Although humans are incredibly efficient at solving lowdimensional spatial problems, such as the Traveling Salesman Problem (typically producing near-optimal solutions in linear time; Dry, Lee, Vickers, & Hughes, 2006;MacGregor & Ormerod, 1996;Mueller, Perelman, Tan, & Thanasuan, 2015), route planning tasks in real-world environments can be incredibly complex. To address the issue of increasing complexity, mixed-initiative systems assist human team members by suggesting routes, generated using highdimensional mission-specific information, which the human can accept or re-plan (Clare, 2013;Cummings, Clare, & Hart, 2010, Shaikh, Goodrich, Yi, & Hoehne, 2016Roth, Hanson, Hopkins, Mancuso, & Zacharias, 2004).…”