It is clear that automated control systems for applications such as power generation and advanced life support do not operate in isolation. Unfortunately, support for interaction with humans often lags support for basic automation functionality in the development of such systems. Two goals of the Distributed Collaboration and Interaction (DCI) project are to (1) enhance interaction capabilities between humans and autonomous systems and (2) better understand design requirements for future autonomous systems to support this enhanced interaction. This paper describes current work in DCI with respect to a command and authorization capability. This capability provides a coordination mechanism through which humans and an autonomous control agent can take actions on the same underlying hardware system with a decreased risk of interfering with each other’s commands.