A system collaboratively and autonomously plans and controls a team of unmanned vehicles within an environment. In order to provide information to a user to enable them to more efficiently achieve the current machine state using natural language instructions, the current state of the machine is determined and used to generate information to inform the user of a natural language instruction which can be input to a machine to achieve the current state of the machine. Laser light fibers may then be passed through an endoscopic guide tube to anneal the inner surface of the disc annulus.