shared mode of operation mitigates problems of humans remotely operating in hazardous environments with poor communications and limited performance when humans have continuous, direct control. For vehicle teleoperations, robots will query humans to receive input on decisions that affect their tasks or when presented with safety-related issues. This dialogue is presented through an interface module that also allows the human operation to view the impact of the dialogue. In addition, this interface module allows the human operator to view what the robot's sensors capture in order to initiate commands or inquiries as necessary. Fault Tolerant System In practice, there are cases where multiple subsystems work together to achieve a common goal. This is a fairly common practice for reliability engineering. This technique involves systems working together collaboratively and the reliable operation of the overarching system is an important issue. Fault tolerant strategies are combined with the subsystems to form a fault tolerant collaborative system. A direct application is the case where two robotic manipulators work together to grasp a common object. For these systems, it is important that when one subsystem becomes faulty, the healthy subsystem reconfigures itself to operate alone to ensure the whole system can still perform its operations until the other subsystem is repaired. In this case, the subsystems create a dialogue between themselves to determine one another's status. In the event of one system starting to exhibit numerous or dangerous faults the secondary subsystem takes over the operation until the faulty system can be repaired. Levels of Autonomy Four levels of autonomy have been devised to serve as a baseline for human-robot interactions that included adaptive collaborative control. The four levels, ranging from full manual to fully autonomous, are: tele mode, safe mode, shared mode, and autonomous mode. Adaptive collaborative controllers typically range from shared mode to autonomous mode. The two modes of interest are: Shared mode – robots can relieve the operator of the burden of direct control, using reactive navigation to find a path based on their perception of the environment. Shared mode provides for a dynamic allocation of roles and responsibilities. The robot accepts varying degrees of operator intervention and supports dialogue through the use of a finite number of scripted suggestions (e.g. “Path blocked! Continue left or right?”) and other text messages that appear within the graphical user interface. Autonomous mode – robots self-regulate high-level tasks such as patrol, search region or