Multi-robot systems are particularly useful in tasks that require searching large areas such as planetary science exploration, urban search and rescue, or landmine remediation. In order to overcome the inherent complexity of controlling multiple robots, the user must be able to give high-level, goal driven direction to the robot team. Since human robot interaction is a relatively new discipline, it is helpful to look to existing systems for concepts, analogies, or metaphors that might be utilized in building useful systems. Inspiration from natural decentralized systems guides the development of a computer simulation for stigmergy-based control of multi-robot system, and the interface with which an operator can interact and control mobile robots. In-depth description of the design process includes a description of a basic stigmergy-based control system and an innovative Directed Stigmergy control system that facilitates operator control of the robot team in an interesting and surprisingly effective way.

The purpose of Project Pioneer is to develop an exploratory robot capable of creating a three-dimensional photo-realistic map of the inside of the damaged Chernobyl nuclear reactor, measure the environmental and radioactive conditions, and collect samples of concrete from the physical structure to determine its mechanical stability. This paper describes the virtual reality interface for Pioneer's three-dimensional mapping system. This interface addresses a wide variety of technical challenges, including several that are unique to the hostile Chernobyl environment.