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