Working together to assess real-life urban disaster sites                                                                                                                                              NIFTi investigates how natural behavior in human-robot cooperation can arise. The project operationalizes natural cooperation as balancing operational and cooperation demands in a cognitive architecture (CA), to minimize human cognitive task load and optimize joint work flow. The CA combines projections with cognitive user models and plans to predict why changes in human behavior (due to attention, task load) may occur. The CA uses these predictions to anticipate how it should adapt acting and communication to align with the human. NIFTi focuses on cooperation in the USAR (urban search and rescue) domain, to restrict what actions, forms of communication and user aspects need to be taken into account.