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Hum.-Robot Interact."],"published-print":{"date-parts":[[2023,9,30]]},"abstract":"<jats:p>Human supervision of multiple fielded robots is a challenging task which requires a thoughtful design and implementation of both the underlying infrastructure and the human interface. It also requires a skilled human able to manage the workload and understand when to trust the autonomy, or manually intervene. We present an end-to-end system for human-robot interaction with a heterogeneous team of robots in complex, communication-limited environments. The system includes the communication infrastructure, autonomy interaction, and human interface elements. Results of the DARPA Subterranean Challenge Final Systems Competition are presented as a case study of the design and analyze the shortcomings of the system.<\/jats:p>","DOI":"10.1145\/3588325","type":"journal-article","created":{"date-parts":[[2023,3,16]],"date-time":"2023-03-16T12:11:50Z","timestamp":1678968710000},"page":"1-24","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["Fielded Human-Robot Interaction for a Heterogeneous Team in the DARPA Subterranean Challenge"],"prefix":"10.1145","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2518-3088","authenticated-orcid":false,"given":"Danny G.","family":"Riley","sequence":"first","affiliation":[{"name":"University of Colorado Boulder, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3686-089X","authenticated-orcid":false,"given":"Eric W.","family":"Frew","sequence":"additional","affiliation":[{"name":"University of Colorado Boulder, USA"}]}],"member":"320","published-online":{"date-parts":[[2023,6,23]]},"reference":[{"key":"e_1_3_1_2_2","article-title":"NeBula: Quest for robotic autonomy in challenging environments; TEAM CoSTAR at the DARPA subterranean challenge","volume":"2103","author":"Agha Ali","year":"2021","unstructured":"Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. 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