Figure 8: Sentinel system-level command interface (left) and individual UGV control interface (right)

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  Interactively view a map the UGVs are operating in, including the ability to pan, zoom, and view the current and past locations of all UGVs
  
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  Specify desired global goal points for each UGV
  
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  Gain a quick snapshot of individual UGV and system-level status
  

The Sentinel individual UGV control interface, shown in Figure 8, allows the operator to specify a UGV and:

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  View detailed telemetry, including battery charge, brake status, and GPS position
  
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  Inspect transmitted video feeds and navigation sensor data
  
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  Control the UGV through local waypoint designation or direct teleoperation
  

Figure 9: Sentinel Tablet PC-based user interface.	Figure 10: Two iRobot PackBots controlled by the Sentinel command interface.

The Sentinel command interface has been executed on a small form-factor Tablet PC hardware interface using a touch-screen interface, shown in Figure 9. With this design, the operator can be mobile and actively interacting in the same environment as the deployed UGVs. The Sentinel interface has been used in the control of multiple semi-autonomous iRobot PackBot UGVs, pictured in Figure 10.