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In this paper, we describe a prototype interface that facilitates the control of a mobile robot team by a single operator, using a sketch interface on a Tablet PC. The user draws a sketch map of the scene and includes the robots in approximate starting positions. Both path and target position commands are supported as well as editing capabilities. Sensor feedback from the robots is included in the display such that the sketch interface acts as a two-way communication device between the user anddoi:10.1007/s10514-007-9023-1 fatcat:fsxntvimr5gznlpzixtco4mjxq