In recent years, with the development of control techniques, sensors and teleoperation system, Unmanned Ground Vehicles (UGVs) are becoming widely employed in both civilian and military fields. The thesis work is made in cooperation with AMET S.r.l.: the main aim is to convert a standard vehicle in a UGV and to develop a shared control algorithm to help human operator in the directly teleoperated driving mode. The state-of-the-art of UGVs is investigated with their architecture, classification and application. Next, an analysis of the communication system is performed, highlighting the resulting chain of delay, with a focus on solutions proposed in the literature to mitigate these latency effects.