1. A system for allowing an operator to switch between remote vehicle tele-operation and one or more remote vehicle autonomous behaviors, comprising: an operator control system receiving input from the operator including instructions for the remote vehicle to execute an autonomous behavior; a control system on the remote vehicle for receiving the instructions to execute an autonomous behavior from the operator control system and comprising an arbiter wherein the autonomous behavior sends a vote to the arbiter requesting control of one or more actuators on the remote vehicle configured to perform the autonomous behavior and, if the voting autonomous behavior has a higher priority than a behavior currently in control of the one or more actuators the autonomous behavior executes.