Robot as partner: vehicle teleoperation with collaborative control

摘要

We have developed a new teleoperation system model called collaborative control. With this model, the robot asks the human questions, to obtain assistance with cognition and perception during task execution. This enables the human to support the robot and to compensate for inadequacies in autonomy. In the following, we review the system models conventionally used in teleoperation, describe collaborative control, and discuss its use.