The dynamic and unpredictable nature of the world we live in makes it difficult to design a single, fully autonomous robot that can be deployed outside of structured industrial environments. This is all the more obvious in emergency response situations, where often enough, even the highly trained human operatives find it hard to efficiently adapt to all the circumstances and unpredictable events that can arise. The use of robots in Chemical, Biological, Radiological, Nuclear, and Explosive (CBRNe) incident response is a promising area of research. Robots can be used to perform tasks that are too dangerous or difficult for humans, such as detecting and identifying hazardous materials, decontaminating people and equipment, and providing medical care. We propose building a Human-in-the-loop HEterogeneous Robotic system (HERO) capable of responding to CBRNe incidents.