The robot will support 2 control modes:

• Manual Control: Using a joystick.

• Semi-Automated Control: The robot will be given commands to go to certain pinpoints placed on a map that was drawn previously.

 

        The manual control is straightforward. The robot will move according to the input provided by the joystick. The robot's movement will not be affected by detection of any obstacles, only the joystick input will control the movement. This will be needed in certain situations, like passing through a path that is hard for the robot to deal with independently, or drawing maps of locations for the first time where this task is not needed to be automated or for better accuracy.

          The semi-automated control can only be activated when a map with good precision of the environment was drawn previously. At the control station, the operator will assign a point on the map displayed, which will be the destination of the movement the robot will perform. The control station will decide the route the robot should take to reach the destination. After that, a command containing information about the chosen route is sent to the robot. And on reception, the robot will notify the control station about starting the new action. When the robot reaches the destination, it notifies the control station about it.