The paper describes experience with applying a user-centric design methodology in developing systems for human-robot teaming in Urban Search and Rescue. A human-robot team consists of several semi-autonomous robots (rovers/UGVs, mi- crocopter/UAVs), several humans at an off-site command post (mission comman- der, UGV operators) and one on-site human (UAV operator). This system has been developed in close cooperation with several rescue organizations, and has been deployed in a real-life tunnel accident use case. The human-robot team jointly explores an accident site, communicating using a multi-modal team interface, and spoken dialogue. The paper describes the development of this complex socio-technical system per se, as well as recent experience in evaluating the performance of this system.