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Multi-agent human-robot teaming allows for the potential to gatherinformation about various environments more efficiently by exploiting andcombining the strengths of humans and robots. In industries like defense,search and rescue, first-response, and others alike, heterogeneous human-robotteams show promise to accelerate data collection and improve team safety byremoving humans from unknown and potentially hazardous situations. This workbuilds upon AugRE, an Augmented Reality (AR) based scalable human-robot teamingframework. It enables users to localize and communicate with 50+ autonomousagents. Through our efforts, users are able to command, control, and superviseagents in large teams, both line-of-sight and non-line-of-sight, without theneed to modify the environment prior and without requiring users to use typicalhardware (i.e. joysticks, keyboards, laptops, tablets, etc.) in the field. Thedemonstrated work shows early indications that combining these AR-HMD-baseduser interaction modalities for command, control, and supervision will helpimprove human-robot team collaboration, robustness, and trust.

Augmented Reality User Interface for Command, Control, and Supervision of Large Multi-Agent Teams