SEMI-AUTONOMOUS PAYLOAD RETRIEVAL SYSTEM

A semi-autonomous work machine having an operator compartment with a userinput interface; a machine CAN bus configured to receive a local user-input signal from the user-input interface; a controllable subsystem communicatively coupled to the machine CAN bus; a gateway interface controller configured to receive a remote user-input signal from a remote controller remotely located from the work machine， the gateway interface controller further configured to generate a CAN signal based on the remote user-input signal to command and actuate the controllable subsystem using the machine CAN bus， wherein the local user-input signal overrides the remote user-input signal.