With respect to a semi-autonomous service robotic system this means that the user's cognitive capabilities are taken into account, whenever a robust and reliable technical solution is unavailable.
The software framework MASSiVE (Multi-layer Architecture for Semi-autonomous Service robots with Verified task Execution) [REF][REF] is a special kind of hybrid multi-layer control architecture which is tailored to the requirements of semi-autonomous and distributed systems, like the care-providing robot FRIEND, acting in environments with distributed smart components.