Interactive and cooperative sensing and control for advanced teleoperation

Sukhan Lee; Eduardo Zapata; Paul S. Schenker

doi:10.1117/12.57950

30 April 1992 Interactive and cooperative sensing and control for advanced teleoperation

Sukhan Lee, Eduardo Zapata, Paul S. Schenker

Proceedings Volume 1611, Sensor Fusion IV: Control Paradigms and Data Structures; (1992) https://doi.org/10.1117/12.57950
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

This paper presents the paradigm of interactive and cooperative sensing and control as a fundamental mechanism of integrating and fusing the strengths of man and machine for advanced teleoperation. The interactive and cooperative sensing and control is considered as an extended and generalized form of traded and shared control. The emphasis of interactive and cooperative sensing and control is given to the distribution of mutually nonexclusive subtasks to man and machine, the interactive invocation of subtasks under the man/machine symbiotic relationship, and the fusion of information and decision-making between man and machine according to their confidence measures. The proposed interactive and cooperative sensing and control system is composed of such major functional blocks as the logical sensor system, the sensor-based local autonomy, the virtual environment formation, and the cooperative decision-making between man and machine. A case study is performed to demonstrate the feasibility of implementing the fundamental theory and system architecture of interactive and cooperative sensing and control, proposed for the new generation of teleoperation.

Citation Download Citation

Sukhan Lee, Eduardo Zapata, and Paul S. Schenker "Interactive and cooperative sensing and control for advanced teleoperation", Proc. SPIE 1611, Sensor Fusion IV: Control Paradigms and Data Structures, (30 April 1992); https://doi.org/10.1117/12.57950

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