Evaluation of Human-robot Interaction in the NIST Reference Search and Rescue Test Arenas

In this paper we discuss studies we have been conducting on humanrobot interaction (HRI) during the Urban Search and Rescue (USAR) competitions in the NIST Reference Test Arena. We discuss some of the analyses we have already done on the data we have collected and present the guidelines we have produced based on these studies. We discuss future plans for augmenting USAR competitions to specifically compare different methods of HRI. KEYWORDS: Human-robot interaction, urban search and rescue 1