The CMU Robotics Institute has published a thesis by Jonathon Brookshire titled "Enhancing Multi-Robot Coordinated Teams with Sliding Autonomy" (PDF format). The paper describes experiments in combining robot teleoperation with autonomy. The resulting robots have "sliding autonomy" in which some operations are contolled autonomously by the robot and others are controlled remotely by a human operator. This concept is then combined with coordinated teams of robots allowing the team to leverage the unique skills of both the human operators and each robot.