In this new era of space exploration where human-robot teams are envisioned maintaining a long-term presence on other planets, effective coordination of these teams is paramount. Three critical research challenges that must be solved to realize this vision are the human-robot team challenge, the pickup-team challenge, and the effective human-robot communication challenge. In this paper, we address these challenges, propose a novel approach towards solving these challenges, and situate our approach in the newly introduced treasure hunt domain.
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