You can get out of almost *all* maps, Fleet Starbases are the exception that comes to mind immediately, by beaming out with the icon to the upper left of the minimap. It looks like an up/down arrow with a humanoid silouette in it. In space it looks like a stylized asterisk and will take you to sector space.
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Mine Trap Supporter
Like this: http://hydra-media.cursecdn.com/sto.gamepedia.com/b/b8/Minimap.jpg
It's the button right underneath the clock.
Mine Trap Supporter
Edit: The button is disabled during combat.