Distributed control for teleoperations

A distributed teleoperating system has been designed and simulated with model-based supervisory control for reduced human attendance and dual sensory feedback channels of model-based, top-down image processing and global positional system (GPS) for robust vehicle pose recovery. The distributed network component design and 3D model display are based on currently available technologies. The most difficult design aspect is to achieve smooth integration between web technologies and the hardware physical entities. Constraints from the remote environment are carefully considered, since the system will be used to build a lava-diverting dam at the base of an active volcano in Japan.