Rescue robotics has been declared an exemplar domain for human-robot interaction by the DARPA/NSF study and a computer science grand challenge by the Computing Research Association. This is not surprising given the extreme challenges of the urban search and rescue domain (US&R), where small robots are used to explore highly confined voids deep in the interior of rubble. US&R itself is demanding on emergency responders since the environment is deconstructed and noisy, a priori knowledge may be unavailable, incomplete or incorrect, and the pace of the rescue unpredictable (e.g., "hurry up and wait"). Possibly more interesting for HRI is…
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