This paper presents a taxonomy of six distinct forms of robot autonomy in human-robot interaction (HRI): operational autonomy, intentional autonomy, shared autonomy, non-deterministic autonomy, cognitive autonomy, and physical autonomy. The authors conducted a systematic literature review of robot autonomy in HRI and integrated this with broader literature on human autonomy in philosophy, psychology, and other fields. They argue that the current one-dimensional view of robot autonomy is insufficient and that a more nuanced understanding is needed to capture the variety of autonomous behaviors robots can exhibit. The taxonomy is based on the degree of human and robot involvement at runtime, human involvement before runtime, and expressions of autonomy at runtime. The authors discuss future considerations for autonomy in HRI, including moral consequences, the idealization of "full" robot autonomy, and connections to agency and free will. The study highlights the importance of clarifying the different forms of autonomy in HRI to better understand and predict user experiences with autonomous robots. The authors encourage HRI researchers to extend and critique this taxonomy to better evaluate the evolving nature and effects of autonomous robots in human society.This paper presents a taxonomy of six distinct forms of robot autonomy in human-robot interaction (HRI): operational autonomy, intentional autonomy, shared autonomy, non-deterministic autonomy, cognitive autonomy, and physical autonomy. The authors conducted a systematic literature review of robot autonomy in HRI and integrated this with broader literature on human autonomy in philosophy, psychology, and other fields. They argue that the current one-dimensional view of robot autonomy is insufficient and that a more nuanced understanding is needed to capture the variety of autonomous behaviors robots can exhibit. The taxonomy is based on the degree of human and robot involvement at runtime, human involvement before runtime, and expressions of autonomy at runtime. The authors discuss future considerations for autonomy in HRI, including moral consequences, the idealization of "full" robot autonomy, and connections to agency and free will. The study highlights the importance of clarifying the different forms of autonomy in HRI to better understand and predict user experiences with autonomous robots. The authors encourage HRI researchers to extend and critique this taxonomy to better evaluate the evolving nature and effects of autonomous robots in human society.