Intelligent sensing and control for advanced teleoperation

A 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 is presented. Interactive and cooperative sensing and control are considered as comprising an extended and generalized form of traded and shared control, with emphasis 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 system proposed is composed of such major functional components as the logical sensor system, sensor-based local autonomy, virtual environment formation, and cooperative decision-making between man and machine. The sensing-knowledge-command (SKC) fusion network is proposed as a fundamental architecture for implementing cooperative and interactive sensing and control. Simulation results are included.<>