Control does not need to be either/or like in many semi-autonomous vehicles.

When two agents sharing control have asymmetric capa-bilities, both loose and tight rein control should be available.

First, communication is vital for sharingcontrol, and this can happen at different levels; second, both agents must have internal modelsof each other to understand what those communicative acts mean.

Throughout the history of automation, a central challenge in HCI has been posed by the com-plexity of autonomous systems. Users must be able to understand and control them. They need tofind and integrate information from dynamic and different sources. They need to understand howto delegate tasks, supervise their execution, and intervene if needed.

The performance of the system must be reliable and controllable. Its behavior should be safe, and the way it is designed and used should be ethical [768]. Users need to trust the system's decisions and ability. It should be made clear to the user what it can and cannot do.

such systems should be designed to take into account the fact that automated results will inevitably be incorrect on occasion.

users can be trained to understand not only the decision-making tasks but also the underpinning capabilities and limitations of the automation solution.

automated systems that indicate when automation may fail or has failed are more likely to gain an appropriate level of trust from users.

When the system fails, users need to be able to redirect it. To avoid biases and discrimination, some level of transparency and explainability is required.