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Remote characterization of high radiationenvironments is a pressing application area whererobots can provide benefits in terms of time, cost, safetyand quality of data. However, the DOE roadmap forRobotics and Intelligent Machines states that usability'may well prove to be the most challenging and yetcrucial component of robotic systems for remotecharacterization and handling of radioactive andhazardous materials. In 2001, the INEEL successfullydeployed a teleoperated robotic system coupled with aGamma Locating and Isotopic Identification Device(RGL&IID) to characterize an area that had beenclosed to human entry for many years. This paperexamines the human-robot dynamic of this teleoperatedtask and the limitations inherent to the master-slavestrategy employed. Next, the paper outlines aninnovative, mixed-initiative command and controlarchitecture developed to address these limitations. Theresulting, mixed-initiative control architecture retainsthe human in the loop, but interleaves multiple levels ofhuman intervention into the functioning of a roboticsystem that can, in turn, scale its own level of initiativeto meet whatever level of input is handed down.