TELEOPERATION SYSTEM AND METHOD FOR TRAJECTORY MODIFICATION OF AUTONOMOUS VEHICLES

A method comprising:receiving sensor data from a sensor on a vehicle;generating a first abstraction of the sensor data having a first level of abstraction detail and a second abstraction of the sensor data having a second level of abstraction detail;determining an attribute of a communications link between the vehicle and a remote system;transmitting, based at least in part on the attribute of the communications link and to the remote system, one of the sensor data, the first abstraction, or the second abstraction;receiving, from the remote system, a command; andcontrolling, based at least in part on the command, the vehicle.