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In this work we describe a model-based approach to the executive control of a rescue rover. We show how this control architecture naturally supports human-robot interaction in the diverse activities needed in rescue and search. We illustrate the approach by considering human-robot interaction in the domain of the RoboCup rescue competition. We discuss the implementation and tests done both during RoboCup contests and in the laboratory, to show performances according to different working modalities such as fully operated, supervised, fully autonomous.