Human robot interaction factors for controlling remote mobile robots is a recent field of research. In this paper we propose a novel system that dynamically adjusts the interaction between operators and robots according to the mission requirements. In particular we focus on the task allocation service. This service allocates the control of robots deployed in a mission between the artificial agents (autonomy) and the operators (tele-operation), being capable of detecting problems derived from autonomy, diagnose the causes, and alert the operator. The system is designed for a multi-robot-multi-user paradigm.