Abstract: In this paper,we describe the concepts of task-level teleprogramming and executioncontrol of an intervention robot,and then present the “Remote Operated AutonomousRobot”(ROAR) approach.A suitable functional architecture is then presehted,composed of an Operator Station(OS) and au Onboard Robot Control System(RCS),with particular emphasis placed on the hierarchical refinement of the mission done atthe OS,and on the organization of the RCS.We shall refer to the context of severaldomain-oriented projects,particularly the AMR(EUREKA) project(public safety),and a planetary(Mars) rover,now under study in our Laboratory,and the implementation of these concepts in our newest mobile robot,HILARE Ⅱ.