follow path. In this mode, the only user intervention occurs at the tasking level, i.e. the robot manages all decision-making and navigation. Limitations Like many other control strategies, adaptive collaborative control has limits to its capabilities. Although the adaptive collaborative control allows for many tasks to be automated and other predefined cases to query the human operator, unstructured decision making remains the domain of humans, especially when common sense is required. Particularly, robots possess poor judgment at high-level perceptual functions, including object recognition and situation assessment. A high number of tasks or a particular task that is very involved may create many questions, thereby increasing the complexity of the dialogue. This complexity to the dialogue in turn adds complexity to the system design. To retain its adaptive nature, the flow of control and information through the simuland will vary with time and events. This dynamic makes debugging, verification, and validation difficult because it is harder to precisely identify an error condition or duplicate a failure situation. This becomes particularly problematic if the system must operate in a regulated facility, such as a nuclear power plant or waste water facility. Issues that affect human-based teams also encumber adaptive collaborative controlled systems. In both cases, teams are required to coordinate activities, exchange information, communicate effectively, and minimize the potential for interference. Other factors that affect teams include resource distribution, timing, sequencing, progress monitoring, and procedure maintenance. Collaboration involves that all partners exhibit trust in the other collaborators and understand the other. To do so, each collaborator needs to have an accurate idea of what the other is capable of doing and how they will carry out an assignment. In some cases, the agent may have to weigh the responses from a human and the human must believe in the decisions a robot makes. References Robot control Collaboration