From supervisory control to cooperative control

Wai Yu; John R. G. Pretlove; Graham A. Parker

doi:10.1117/12.369277

8 November 1999 From supervisory control to cooperative control

Wai Yu, John R. G. Pretlove, Graham A. Parker

Proceedings Volume 3840, Telemanipulator and Telepresence Technologies VI; (1999) https://doi.org/10.1117/12.369277
Event: Photonics East '99, 1999, Boston, MA, United States

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.

Citation Download Citation

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

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available