Our efforts in Year 1 will focus on increasing flexibility in our current coordination mechanism for enabling interventions by humans at low-level controls as well as including customizable input from high-level planners. At the end of Year 1 we will demonstrate a human-robot team operating in a treasure-hunt domain. The robots will be heterogeneous and will include Pioneer IIDX and Pioneer IIIDX robots. The humans and robots will be tasked with exploring a previously unknown environment and seeking and retrieving as many objects of interest as possible. There will be several types of treasure detectable by lasers; some will be visually identifiable and some will not be easily identifiable by humans. The Pioneers will be able to identify the retro-reflective treasure and assist with transporting treasure and creating useable maps of the environment using laser range finders. We will also demonstrate flexibility in our current coordination mechanism for enabling interventions by humans at low-level controls as well as including customizable input from different high-level planners.