design of interfaces is an important human system integration consideration that must be addressed. Due to the inherent varied interpretational scheme in humans, it becomes an important design factor to ensure the robot(s) are correctly conveying its message when interacting with humans. History The history of adaptive collaborative control began in 1999 through the efforts of Terrence Fong and Charles Thorpe of Carnegie Mellon University and Charles Baur of École Polytechnique Fédérale de Lausanne. Fong et al. believed existing telerobotic practices, which centered on a human point of view, while sufficient for some domains were sub-optimal for operating multiple vehicles or controlling planetary rovers. The new approach devised by Fong et al. focused on a robot-centric teleoperation model that treated the human as a peer and made requests to them in the manner a person would seek advice from experts. In the nominal work, Fong et al. implemented collaborative control design using a PioneerAT mobile robot and a UNIX workstation with wireless communications and distributed message-based computing. Two years later, Fong utilized collaborative control for several more applications, including the collaboration of a single human operator with multiple mobile robots for surveillance and reconnaissance. Around this same time, Goldberg and Chen presented an adaptive collaborative control system that possessed malfunctioning sources. The control design proved to create a model that maintained a robust performance when subjected to a sizeable fraction of malfunctioning sources. In the work, Goldberg and Chen expanded on the definition of collaborative control to include multiple sensors and multiple control processes in addition to human operators as sources. A collaborative, cognitive workspace in the form of a three-dimensional representation developed by Idaho National Laboratory to support understanding of tasks and environments for human operators expounds on Fong's seminal work which used textual dialogue as the human-robot interaction. The success of the 3-D display provided evidence of the use of mental models for increased team success. During that same time, Fong et al. developed a three dimensional display that was formed via a fusion of sensor data. A recent adaptation of adaptive collaborative control in 2010 was used to design a fault tolerant control system using a Lyapunov function based analysis. Initialization The simuland for adaptive collaborative control centers on robotics. As such, adaptive collaborative control follows the tenets of control theory applied to robotics at its basest level. That means the states of the robot are observed