How I imagine it:
Right click drag to move camera target.
Free look when there is no primary target, camera does not auto turn by default, but could be set to turn in the direction of movement - but this is overridden by next point.
When there is a primary target, camera target is locked on it. Camera can still be turned, but will auto-return when right click released - like the radar currently works.
For movement, WASD can be used to move forward/backward/sideways/combinations-of-previous. Just like in a FPS, with the difference that robot legs will turn into the direction of movement but being in 1st person view the player does not (much) care.
Doubleclick to move would still work as before.
Optionally "autorun sideways/backwards" could also be added, this could be useful in all camera modes.
Regarding the ground textures, those who do not like them can always zoom back out. Besides more detailed ground textures would also help show the supposed scale of the bots *subtle hint*