The motivation for integrating humans into a service robot system is to take advantage of human intelligence and skill. Human intelligence can be used to interpret robot sensor data, eliminating computationally expensive and possibly error-prone automated analyses. Human skill is a valuable resource for trajectory and path planning as well as for simplifying the search process. In this paper we present our plans for integrating humans into a service robot system. We present our paradigm for human/robot interaction, called Human Directed Local Autonomy (HuDL). Our testbed system is described, and some example applications of HuDL for an aid to the physically disabled are given.