 The controller enables switching between different Level(s) of Autonomy (LOA) during task execution initiated by either the human operator or/andthe robot.
<clarity>  The controller enables switching between different Level(s) of Autonomy (LOA) during task execution initiated by either the human operator or/andthe robot.
 The EMICS enables switching between different Level(s) of Autonomy (LOA) during task execution initiated by either the human operator or/andthe robot.