Advancement in robotic technology has made a positive contribution in many industries including the mining industry. Intelligent robotic systems are especially fast becoming of interest due to their successful application in many areas where safety is critical. Even so, robots still continue to rely on humans to control them and in some instances, help fulfill their missions. At the present, the most prevalent means of controlling intelligent robots is by use of regular Remote Control (RC). This means makes use of transmitters and receiver devices which are incorporated in the robots. Remote controlled robots invariably make use of human control since there has to be an operator giving the robot instructions in real time. However, autonomous control is in some instance the most desirable form of control sine it removes the need for human control. Recent developments have made autonomous control realizable for intelligent robotic systems. How Autonomous Control Works Autonomous by definition means having the power to govern self and as such, autonomous controllers possess the ability for self governance in the performance of various tasks. In practice, autonomous control systems make use of Global Positioning System (GPS) devices that are built into the control system of the intelligent robots. An autonomous controller has the capacity to plan the necessary sequence of control actions that should be taken in order to achieve set goals. The architecture of an autonomous control system is typically made of three levels. The lowest level is the Execution level which is the interface between the robot and its environment through the use of sensors and actuators (Antsaklis, Passino and Wang 23). The Execution level has a number of control algorithms which are used in the operation of the robot. The middle level is the Coordination level which interfaces the actions of the top and lower level s in the architecture. The higher levels issue commands to the lower levels and responsive data flows from bottom to top. An intelligent autonomous controller is at best a complex series of systems with differing performance requirements. Even so, all autonomous controls make use of deterministic feedback controls in their operation. This feedback requires that a particular task be completed at a certain minimum time or using certain minimum energy. The control algorithms developed for autonomous controllers are built with uncertainty in mind. This is because robots in underground mining operate in areas where which are highly dynamic and intelligent decision making is invaluable. Ridley and Corke state that the speed of a vehicle traveling a complex path under autonomous control should be continuously regulated according to the physical conditions of the path (30). Roberts et al proposes that robots utilize scanning laser rangefinder to avoid obstacles that may be in the path (194). For all the talks of autonomy, it must be remembered that even with autonomous controllers, human beings should possess the ultimate authority on the activities being carried out. Antsaklis, Passino and Wang propose that humans should have ultimate authority to override the control of autonomy functions at will (24). The reason for this is that huma