  Our overall program objective is to provide more natural ways for soldiers to
interact and communicate with robots, much like how soldiers communicate with
other soldiers today. We describe how the Wizard-of-Oz (WOz) method can be
applied to multimodal human-robot dialogue in a collaborative exploration task.
While the WOz method can help design robot behaviors, traditional approaches
place the burden of decisions on a single wizard. In this work, we consider two
wizards to stand in for robot navigation and dialogue management software
components. The scenario used to elicit data is one in which a human-robot team
is tasked with exploring an unknown environment: a human gives verbal
instructions from a remote location and the robot follows them, clarifying
possible misunderstandings as needed via dialogue. We found the division of
labor between wizards to be workable, which holds promise for future software
development.
