Humans are unable to operate in hazardous or inaccessible environments. However, the need to perform specific tasks in those places and the curiosity to discover unexplored environments have increasingly turned the spotlight on teleoperation. A teleoperation system requires the presence of a remote robot controlled by a human operator. Teleoperation plays a significant role in different areas, like the nuclear industry, mining, underwater exploration, surgery, etc. For difficult tasks, it might be easier for the operators to delegate some actions to the robot, thus sharing the autonomy of the task execution with the robot. The present master's thesis aims at the development of a teleoperation system for the evaluation of shared autonomy algorithms.