Field of view deficiency-based dominance distribution for collaborative teleoperation

Abstract

This paper intoduces a preliminary study on a new control decomposition criterion for collaborative teleoperation systems - field of view deficiency. This criterion represents the amount of visual information available to operators. As a tool for such decomposition we introduce a dominance distribution matrix - a more flexible approach to dominance distribution than a well-known scalar dominance factor concept. We introduce collaborative teleoperation architecture, based on field of view deficiency criterion and apply it to experimental dual-master/single-slave teleoperation system. Experimental study demonstrates the effectiveness of the proposed approaches.