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Dividing the control authority of the slave robot among operators, based on the available information to them and their controlling strategy, is absolutely essential for cooperative teleoperation systems. Although there have been many studies on this, most of the analysis were limited to fixed authority and its effect on stability. None of the research has discussed how to allocate the control authority...
This paper intoduces a preliminary study on a new control decomposition criterion for collaborative teleoper-ation 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...
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