Example implementations include a system and method for remotely controlling the motion of a robot. In example implementations, the user is presented with a display having video from a camera on the robot augmented with abstract sensor data, and facilitates the user to draw motion path commands directly on the camera view. Analysis of the scene for obstacles is performed, so that the drawing of commands is interactive, preventing the user from drawing impossible paths. The path sketch is then transformed into the coordinate system of the robot and used to generate commands that will move the robot to the desired location. Sensor data is also used to augment the camera view, in particular for highlighting dangers and obstacles.