Before revision:  The controller enables switching between different Level(s) of Autonomy (LOA) during task execution initiated by either the human operator or/andthe robot. The controller is evaluated in two Search and Rescue (SAR) inspired experiments, one with a simulated robot and test arena  and one with a real robot in a realistic environment.
After revision:  The controller enables switching between different Level(s) of Autonomy (LOA) during task execution initiated by either the human operator and/or the EMICS. The EMICS is evaluated in two Search and Rescue (SAR) inspired experiments, one with a simulated robot and test arena and one with a real robot in a realistic environment.