https://1library.org/document/yr3ljw57-orinmanytaskswherehumansupervisionisrestrictedandaprecisemapoftheregioninvolvedinthetaskislacking-atrulyautonomousrobotinthesecircumstanceshastobeabletoefficientlycharttheenvironmentatsomedegreepriortoengaginginanytaskorientedbehavior-evenapurelyreactivero.html