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Real-world deployment of new technology and capabilities can be daunting. Therecent DARPA Subterranean (SubT) Challenge, for instance, aimed at theadvancement of robotic platforms and autonomy capabilities in three one-yeardevelopment pushes. While multi-agent systems are traditionally deployed incontrolled and structured environments that allow for controlled testing (e.g.,warehouses), the SubT challenge targeted various types of unknown undergroundenvironments that imposed the risk of robot loss in the case of failure. Inthis work, we introduce a video game-inspired interface, an autonomous missionassistant, and test and deploy these using a heterogeneous multi-agent systemin challenging environments. This work leads to improved human-supervisorycontrol for a multi-agent system reducing overhead from application switching,task planning, execution, and verification while increasing availableexploration time with this human-autonomy teaming platform.

Copiloting Autonomous Multi-Robot Missions: A Game-inspired Supervisory Control Interface