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Preliminary results are reported from efforts to design and develop a robotic system that will accept and execute commands from either a six-axis teleoperator device or an autonomous planner or combine the two. Such a system should have both traded and shared control capability. A sharing strategy is presented whereby the overall system, while retaining positive features of teleoperated and autonomous operation, loses its individual negative features. A two-tired shared control architecture is considered here, consisting of a task level and a servo level. Also presented is a computer architecture for the implementation of this system, including a description of the hardware and software.>
Hayati et al. (Tue,) studied this question.