Teleautonomous systems attempt to combine the advantages of telerobotics and autonomous systems.
Numerous generalized architectures for telerobotic systems have been proposed. Most are hard-wired instantiations of a specific approach, which rarely address the interactions between human and autonomous elements of teleautonomous systems. The work described here provides a more general, easily extensible and modifiable architecture. These methods may be dynamically altered to generate a variety of control modes. A result of the research described in this thesis is a modifiable, extensible framework for the unification of the many modes of control, such as shared, teleoperative, and supervisory, which are described in the telerobotics literature.