Intelligent sensing and control for advanced teleoperation

The authors present 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 sensing and control is considered as an extended and generalized form of traded and shared control. The emphasis is on 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 sensing and control system is composed of such major functional blocks as the logical sensor system, sensor-based local autonomy, virtual environment formation, and cooperative decision-making between man and machine. A case study demonstrates the feasibility of implementing the fundamental theory and system architecture