Supervisory model-mediated teleoperation for multiple-master/multiple-slave system

This work considers control decomposition problems in multiple-master/multiple-slave (MMMS) systems. The MMMS systems are famous for increased dexterity and higher payload capabilities comparing to conventional systems. Owing to availability of multiple operators it is possible to solve complex tasks that require distributed environment sensing and/or involve additional cognitive load. We also briefly discuss the problem of communication delay and general approach we going to follow to rectify it.