Exploration of unknown environments remains one of the fundamental problems of mobile robotics. It is also a prime example for a task that can benefit significantly from multi-robot teams. We present an integrated system for semiautonomous cooperative exploration, augmented by an intuitive user interface for efficient human supervision and control. In this preliminary study we demonstrate the effectiveness of the system as a whole and the intuitive interface in particular. Congruent with

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... s findings, results confirm that having a human in the loop improves task performance, especially with larger numbers of robots. Specific to our interface, we find that even untrained operators can efficiently manage a decently sized team of robots.