  Field robotics applications, such as search and rescue, involve robots
operating in large, unknown areas. These environments present unique challenges
that compound the difficulties faced by a robot operator. The use of
multi-robot teams, assisted by carefully designed autonomy, help reduce
operator workload and allow the operator to effectively coordinate robot
capabilities. In this work, we present a system architecture designed to
optimize both robot autonomy and the operator experience in multi-robot
scenarios. Drawing on lessons learned from our team's participation in the
DARPA SubT Challenge, our architecture emphasizes modularity and
interoperability. We empower the operator by allowing for adjustable levels of
autonomy ("sliding mode autonomy"). We enhance the operator experience by using
intuitive, adaptive interfaces that suggest context-aware actions to simplify
control. Finally, we describe how the proposed architecture enables streamlined
development of new capabilities for effective deployment of robot autonomy in
the field.
