Two new modes of real-time collision avoidance are presented wh.ich aid in the e.ffectiveness of remote tele-operation. Sticky collision mode improves system safety by disallowing contact with modelled obstacles. Slippery mode is used t o improve the efficiency of -the process by reducing the required level of operator skill.Both modes execute an real-time and have been ampdemented and tested on a remote excavator system. It was found that precise geometries could be excavated using extremely simplified cutting strategies that requared very little fine control on the part of the operator, thereby improving the eflectiveness of remote tele-excavation.
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