Abstract: Human Robot Interaction (HRI) has aroused a lot of interest over the past year leading to special issues of journals, special sessions at conferences, and a new HR&T program at NASA. The driving force is the movement of mobile robots from labs, factories, and one-of-a-kind applications to an active role in military operations in Afghanistan and Iraq , an emerging role in search and rescue, and even in the home with iRobot's rhoomba vacuum cleaner. What is clearly evident to users and increasingly to researchers as well is that full autonomy is not working and that finding ways to allow humans to cooperate with robots is not particularly easy. We have been working on HRI problems since receiving an NSF ITR for urban search and rescue (USAR) robotics in the fall of 2002 and have been working on related problems with control of UAVs in an AFRL project that started half a year later. In this talk I will give an overview of our research. Our most visible product is the USARsim HRI oriented robotic simulation that was adopted for the Robocup Rescue Virtual Robot League earlier this month. Developing USARsim was an early objective of the project because existing robotic simulators did not provide sufficiently accurate simulations of camera video or (surprisingly) robot kinematics to study the types of control difficulties we observed in real operations. We have conducted two full studies I will report on briefly using the simulator to evaluate camera control in search and alternative displays of robot attitude. The simulator was also useful in designing displays and control strategies for the robots we took to the Robocup American Open. We are currently gearing up for validation studies comparing performance of real robots with those in the simulation. I will discuss these studies and experiments in mult-robot control we hope to begin early next year.