an overarching goal when the agent is focused on only one aspect of the entire problem. Queries from the human are used to gather status information on either support functions of the agent or to determine progress on missions. Many times the robot's response serves as precursor information for issuance of a command as human assistance to the agent. Responses from the human operator are initiated by queries from the agent and feedback into the system to provide additional input to potentially regulate an action or set of actions from the agent. At the functional model level, the system has translated all accepted commands from the human into control inputs used to carry out tasks defined to the agent. Due to the autonomous nature of the simuland, input from the agent is being fed into the machine to operate sustaining functions and tasking that the human operator has ignored or answered to an insufficient manner. The codomain for the models that utilize adaptive collaborative control are queries, information statements, and responses from the agent. Queries and information statements are elements of the dialogue exchange at the finite-state machine level. Queries from the agent are the system's way of soliciting a response from a human operator. This is particularly important when the agent is physically stuck or at a logical impasse. The types of queries the agent can ask must be pre-defined by the modeler. The frequency and detail associated with a particular query depends on the expertise of the human operator or more accurately the expertise of the human operator identified to the agent. When the agent responds it will send an information statement to the human operator. This statement provides a brief description on what the adaptive collaborative control system decided. At the functional model level, the action associated with the information statement is carried out. Applications Vehicle teleoperation Vehicle teleoperation has been around for many years. Early adaptations of vehicle teleoperations were robotic vehicles that were controlled continuously by human operators. Many of these systems were operated with line-of-sight RF communications and are now regarded as toys for children. Recent developments in the area of unmanned systems have brought a measure of autonomy to the robots. Adaptive collaborative control offers a shared mode of control where robotic vehicles and humans exchange ideas and advice regarding the best decisions to make on a route following and obstacle avoidance. This