[Woolly]

There's about a million ways to do what you're saying...
The first thing that comes to mind is putting a Kinect on your driver station and making one of the drivers hold up a fist (all finger buttons pressed) to allow autonomous to keep running.
Otherwise, if it's a drive situation you're worried about, and you have encoders on your drivetrain, you could put in a condition such that if you're applying more than say 30% power to your motors and you're not moving, that it assumes the motors are stalled and kills autonomous (or you could use this same condition to see when you've run into the 10-pt goal)

But yeah, if your autonomous is inside a large while loop, you could make it so that any number of conditions can force autonomous to stop running.