We will develop a novel user interface for aerial robotic systems to enable the operation of a UAV by untrained pilots in industrial or constrained environments. A force feedback joystick actuator will be used to provide the operator with a haptic control interface for the system. This will allow the operator to feel disturbances such as wind gusts and resistance to motion in the direction of obstacles. Various modes of operation will provide partitioned teleoperational/autonomous control to aid the user for tasks such as visual fixation on a target (maintain a target in view), follow walls, floors, return to base, etc. The teleoperation control will also be augmented with obstacle avoidance algorithms, emergency procedures and strategies for loss of communications.