TABLE 3.

The protocol used by the human operator to control the behavior of the robot.

Situation	Resulting Robot Behavior
The leash is stretched	Follow the human in the direction that the leash is pulled in
The leash is loose AND the human-robot team is on the predefined route	Follow the predefined route
The leash is loose AND the human-robot team is not on the predefined route AND there are virtual objects that have not been picked up	Move toward the nearest virtual object that has not yet been picked up
The leash is loose AND the human-robot team is not on the predefined route AND all virtual objects have been picked up	Move toward the goal