30 April 1992 Interactive and cooperative sensing and control for advanced teleoperation
Author Affiliations +
Proceedings Volume 1611, Sensor Fusion IV: Control Paradigms and Data Structures; (1992); doi: 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.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Sukhan Lee, Eduardo Zapata, 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); doi: 10.1117/12.57950; https://doi.org/10.1117/12.57950
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KEYWORDS
Sensors

Control systems

Visualization

Virtual reality

Data fusion

Sensor fusion

Cameras

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