This video presents a framework where persistent autonomous behaviors are planned by a robot while the human operator is in charge of modifying online some geometric properties of the current behavior.
Details on the planning method are given in 
- , “Interactive Planning of Persistent Trajectories for Human-Assisted Navigation of Mobile Robots”, in 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, 2012, pp. 2641-2648.