Hybrid Control Agent Switching for Autonomous and Tele-Operated Tasks
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Solution Overview
Problem
Existing control systems for vehicles and robots are inadequate in unstructured environments, as they either rely solely on autonomous control, which fails in complex situations, or tele-operated control, which is costly and prone to latency and human interpretation issues, making them unsuitable for tasks that require adaptability and precision in varying conditions.
Innovation Solution
A hybrid control system that switches between tele-operated and autonomous control on a task-by-task basis, using a control engine to install a master plan that includes both autonomous and tele-operator-based tasks, allowing seamless transitions based on environmental context, reducing errors and latency, and incorporating machine learning to adapt control strategies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If autonomous control is used for complex tasks in inconsistent environments, then automation level increases, but reliability decreases due to control errors
Solution Approach 1:
The system dynamically switches between autonomous and tele-operated control modes based on environmental consistency and task complexity. The master plan is constructed task-by-task, allowing the control paradigm to adapt dynamically to current operating conditions rather than being fixed, thereby maintaining reliability while enabling high automation where appropriate.
Solution Approach 2:
The system changes the control paradigm parameter from purely autonomous to a hybrid model that incorporates both autonomous and tele-operated control. This parameter change allows the system to leverage the speed of autonomous control for simple tasks while relying on human judgment for complex tasks in inconsistent environments, resolving the reliability-automation tradeoff.
2Reliability
If tele-operated control is used for complex tasks, then reliability improves through human judgment, but latency increases and cost increases
Solution Approach 1:
The master plan is segmented into individual tasks, each evaluated for its suitability for autonomous or tele-operated control. This segmentation allows the system to apply tele-operated control only to specific complex tasks that require human judgment, while using autonomous control for simpler tasks, thereby reducing overall latency and cost while maintaining reliability where needed.
Solution Approach 2:
The system applies tele-operated control partially, only to the extent necessary for complex tasks in inconsistent environments, rather than using it for all tasks. This partial application minimizes latency and cost associated with human-in-the-loop control while maintaining reliability for critical operations.
3Speed
If purely autonomous control is used, then response speed increases, but adaptability decreases in unstructured environments
Solution Approach 1:
The control system is designed to perform multiple functions by supporting both autonomous and tele-operated control paradigms within a unified master plan framework. This multi-functionality allows the system to achieve fast response speeds through autonomous control while maintaining adaptability to unstructured environments through selective use of tele-operated control, resolving the speed-adaptability contradiction.
4Adaptability or versatility
If tele-operated control is used for all tasks, then adaptability improves, but device complexity and cost increase
Solution Approach 1:
The system uses dynamic task-by-task construction of the master plan to determine the appropriate control paradigm for each task based on environmental consistency and task complexity. This dynamic approach provides the adaptability of tele-operated control only when necessary, rather than requiring all tasks to be handled by complex tele-operated systems, thereby reducing overall system complexity and cost while maintaining flexibility.
Data Source
AI summary
A hybrid control system includes a control agent and a control engine. The control engine is configured to install a master plan to the control agent. The master plan includes a plurality of high-level tasks. The control agent is configured to operate according to the master plan to, for each high-level task of the high-level tasks, obtain one or more low-level controls and to perform the one or more low-level controls to realize the high-level task. The control agent is configured to operate according to the master plan to transition between the plurality of high-level tasks thereby causing a seamless transition between operating at least partially autonomously and operating at least partially based on input from the tele-operator, based at least on context for the control agent, to operate at least partially autonomously and at least partially based on input from the tele-operator during execution of the master plan.