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Proceedings Paper

Interactive and cooperative sensing and control for advanced teleoperation
Author(s): Sukhan Lee; Eduardo Zapata; Paul S. Schenker
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Paper 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.

Paper Details

Date Published: 30 April 1992
PDF: 15 pages
Proc. SPIE 1611, Sensor Fusion IV: Control Paradigms and Data Structures, (30 April 1992); doi: 10.1117/12.57950
Show Author Affiliations
Sukhan Lee, Jet Propulsion Lab. and Univ. of Southern California (United States)
Eduardo Zapata, Univ. of Southern California (United States)
Paul S. Schenker, Jet Propulsion Lab. (United States)


Published in SPIE Proceedings Vol. 1611:
Sensor Fusion IV: Control Paradigms and Data Structures
Paul S. Schenker, Editor(s)

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