Table 2.

Minimal set of operations considered for both aerial and ground units.

Operation	Description
Initialization	Set up the initial configuration of a unit
Actuation	Actions on the unit (displacements, speed changes, tool activations, plan executions...)
Pause	Interrupt the current operation, keeping the same state until receiving a resume command
Resume	Resume the activity that was being carrying out when received the paused command
Stop	Stop the unit movement and actuation
Disconnect	Close the connection from which the request has been made