Human judgement is an integral part of the teleoperation process, heavily influenced by the rate in which commands are given to and the telemetry data is received from the robot. In this paper a multi-agent system for robot teleoperation is proposed. Several entities (e.g. robot or human) can easily be added and removed. In addition, this approach fosters a shared notion of reality to every entity present in the network, through a mechanism similar to the distributed blackboard architecture. This method provided an exchange of information regarding the teleoperation scenario, i.e. perceptual clues. This promoted a study on how perceptual clues influenced the operators' judgement and performance. The experimental results in a physical suggest that the system is able to guarantee a close interaction between users and robots.