Who´s in charge?; intermediate levels of control for robots we can live with

This paper reviews literature suggesting that intermediate levels of automation (where tasks or functions are neither fully under the control of the human nor the robot) hold unique advantages for human-robotic interaction. ´Supervisory control´ offers this level of human involvement, but little attention has been paid to how to achieve supervisory interactions that approximate levels of flexibility in human-human supervisory relationships. We argue that models of human-human task delegation (with more or less specific instructions on task performance) provide a useful guide to the creation of highly flexible interactions at these intermediate levels. We offer defining characteristics of delegation interaction systems and suggest the benefits that might be obtained from such systems.