This work is funded under the Dstl Defence and Security Accelerator Programme for revolutionise the human information relationship for Defence (ACC101939, 2017); and under the Dstl Autonomous Systems Underpinning Research (ASUR) programme (0913_C2_Ph1 009/0913_CH2_PH2_009, 2014-2016); and the RAEng/Leverhulme Trust Senior Research Fellowship Scheme (Hastie/LTSRF1617/13/37, 2017-2018).