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8 November 1999 From supervisory control to cooperative control
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Abstract
This paper reviews different forms of human and computers co-operative control in teleoperation. The need to define a new form of co-operative control is addressed due to the increase capabilities of computers in perception, decision- making and learning. A brief description of shared and traded control and supervisory control is given with their differences from co-operator control. A co-operative control concept based on the less strict sense of supervisory control is proposed. In this concept, human operators and computers can interact and co-operate in the operation at both intelligence and execution levels. Humans and computers' distinctive and overlapping advantages are utilized in the control concept. A framework for developing co-operative control systems is introduced with functional components depicted. A telerobotic system with a demonstration task has been developed as the test-bed to investigate different issues of co-operative control. The task description and operational mode of the system are also given.
© (1999) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Wai Yu, John R. G. Pretlove, and Graham A. Parker "From supervisory control to cooperative control", Proc. SPIE 3840, Telemanipulator and Telepresence Technologies VI, (8 November 1999); https://doi.org/10.1117/12.369277
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