WO2019150331A1 - Systems and methods for a common operator to control multiple vehicles cross-reference to related applications - Google Patents

Abstract

A set of operator stations, each comprising a control panel via which a human operator can control remote controlled vehicles and a set of remote controlled autonomous vehicles are connected to a 815communication network. Feedback signals may be sent from the vehicle to the operators and command signals may be sent by the operator to multiple vehicles. An overcontroller manages communications between the operator stations and the remote controlled vehicles. Drive controls may be provided allowing the operator to remotely pilot the remote vehicles when required and an operator interface is provided to allow the operator to communicate with multiple passengers simultaneously via telepresence. 820 825

Description

SYSTEMS AND METHODS FOR A COMMON OPERATOR TO CONTROL MULTIPLE VEHICLES

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of priority from U.S. Provisional Patent Application No. 62/626,1 13, filed February 4, 2018 the contents of which are incorporated by reference in their entirety.

5

FIELD AND BACKGROUND OF THE INVENTION

The disclosure herein relates to systems and methods for enabling a common operator to control multiple vehicles. In particular, but not exclusively, the disclosure relates to enabling a remote operator to interact with passengers at multiple locations on a public transport network, seemingly simultaneously, via telepresence. 10

Passengers on public transport have long relied upon the drivers for guidance and security. As autonomous vehicles transition into the public transport space, passengers are not less in need of ongoing reassurance.

The need remains for a human controller of autonomous public transport vehicles. The invention described herein addresses the above-described needs. 15

SUMMARY OF THE EMBODIMENTS

According to one aspect of the presently disclosed subject matter, a system is introduced for allowing multiple vehicles to be remotely controlled by a common operator over a communication network.

The system may include a set of operator stations, each operating station comprising a control 20 panel via which a human operator can control at least one remote controlled vehicle, and an operator communication module operable to communicate with the communication network.

The system may also include a set of the remote controlled vehicles, each the remote controlled vehicle comprising an autonomous controller configured and operable to navigate the vehicle independently or a human-piloted vehicle where the human pilot is in communication with the operator, and an operator 25 communication interface configured and operable to communicate with at least one operator station via the communication network thereby sending feedback signals to the at least one operating station, and receiving control signals from the operating station.

Typically the system also includes at least one overcontroller configured and operable to manage communications between the operator stations and the remote controlled vehicles. 30

Where appropriate, the operator station comprises drive controls enabling the operator to manually pilot at least one remote controlled vehicle. Such drive controls may include at least one steering mechanism, at least one braking mechanism and at least one throttle.

Optionally, the drive controls are selected from a group consisting of: a steering wheel, an accelerator pedal, a gear lever, a brake pedal, a joystick, push buttons, levers, sliders, rudders, eye 35 scanners, head sticks and the like as well as combinations thereof.

As appropriate, the autonomous controller of the remote controlled vehicles includes environmental sensors operable to detect kinematic parameters related to objects external to the remote controlled vehicle. For example the kinematic parameters may be selected from the group consisting of distance, relative velocity, absolute velocity, acceleration and the like as well as combinations thereof. Accordingly, the 40 environmental sensors may be selected from the group consisting of video cameras, microphones, infrared sensors, ultraviolet sensors, lidar sensors, radar sensors, doppler sensors, ultrasonic sensors, vibration sensors, piezoelectric elements and the like as well as combinations thereof. Additionally or alternatively, the autonomous controller of the remote controlled vehicles may include internal sensors operable to detect diagnostic parameters related to the health status of the remote 45 controlled vehicle. For example, the diagnostic parameters may be selected from the group consisting of current velocity, acceleration, fuel state, engine temperature, oil level, door status, tire pressure, cabin temperature, emission levels and the like as well as combinations thereof. Accordingly, the internal sensors may be selected from the group consisting of thermistors, thermocouples, temperature gauges, piezoelectric elements, pressure gauges, strain gauges, optical detectors, audio detectors and the like as 50 well as combinations thereof.

Optionally, the remote controlled vehicle may further include manual drive controls enabling a local driver to manually pilot the remote controlled vehicle.

Thus the operator communication interface may be operable to send feedback signals selected from kinematic parameters related to objects external to the remote controlled vehicle, and diagnostic 55 parameters related to the health status of the remote controlled vehicle.

Additionally or alternatively, the remote controlled vehicle further comprises at least one passenger interface operable to provide a communication channel between a passenger on board the remote controlled vehicle and at least one operator. Optionally, the passenger interface comprises at least one visual output device, at least one audio output device, at least one visual input device and at least one audio 60 input device. For example, the at least one visual output device is selected from group consisting of an animatronic head, a humanoid head, a holographic image and the like as well as combinations thereof. Additionally or alternatively, at least one visual output device is selected from a group consisting of a video screen, human head shaped skinnable projector, a video avatar and the like as well as combinations thereof. 65

Where appropriate, the operator communication interface may be operable to send feedback signals selected from video communication detected by the video input device and audio communication detected by the audio input device.

In various embodiments, the overcontroller comprises an overcontroller communication module operable to: receive action report signals from the operator stations, the action report signals indicating if the 70 operator station is actively linked to a remote control vehicle; and receive link operator-request signals from the remote control vehicles, the operator-request signals indicating that a requesting remote control vehicle requires a connection with an operator station. Accordingly, the system may be further operable to select an operator station from a set of inactive operator stations and to establish a feedback link between the requesting remote control vehicle and the selected inactive operator station. 75

According to another aspect of the presently disclosed subject matter, a method is hereby taught for allowing multiple vehicles to be remotely controlled by a common operator over a communication network.

The method may include: providing a set of operator stations, each operator station comprising a control panel via which a human operator can control at least one remote controlled vehicle, and an operator communication module operable to communicate with the communication network; providing a set 80 of the remote controlled vehicles, each the remote controlled vehicle comprising an autonomous controller configured and operable to navigate the vehicle independently, and an operator communication interface configured and operable to communicate with at least one operator station via the communication network thereby sending feedback signals to at least one operating station, and receiving control signals from the operating station; providing at least one overcontroller configured and operable to manage communications 85 between the operator stations and the remote controlled vehicles; the overcontroller receiving at least one action report signal from an operator stations, the action report signals indicating that at least one operator station is actively linked to a remote control vehicle; the overcontroller receiving at least one link operator- request signal from at least one of the remote control vehicles, the operator-request signals indicating that a requesting remote control vehicle requires a connection with an operator station; the overcontroller selecting 90 an operator station from a set of inactive operator stations; the overcontroller selecting establishing a feedback link between the requesting remote control vehicle and the selected inactive operator station thereby rendering the requesting remote control vehicle a linked remote control vehicle, and rendering the selected operator station a linked operator station; the linked operator station receiving feedback signals from the linked remote control vehicle; and the linked operator station sending control signals to the linked 95 remote control vehicle.

Variously, the control signals may comprise command signals, and the method may further include the linked operator station piloting the linked remote control vehicle.

Alternatively or additionally, the linked operator station may receive audio visual data from a passenger interface on board the linked remote control vehicle. Accordingly, the linked operator station may 100 generate an audio-visual output at a passenger interface. Optionally, the step of generating the audio-visual output at a passenger interface involves generating a series of audio visual projections selected from live segments, pre-recorded segments and transition segments. Where appropriate, the series of audio visual projections is selected so as to appear smooth and lifelike to a passenger.

105

BRIEF DESCRIPTION OF THE FIGURES

For a better understanding of the embodiments and to show how it may be carried into effect, reference will now be made, purely by way of example, to the accompanying drawings. 1 10

With specific reference now to the drawings in detail, it is stressed that the particulars shown are by way of example and for purposes of illustrative discussion of selected embodiments only, and are presented in the cause of providing what is believed to be the most useful and readily understood description of the principles and conceptual aspects. In this regard, no attempt is made to show structural details in more detail than is necessary for a fundamental understanding; the description taken with the drawings making 1 15 apparent to those skilled in the art how the various selected embodiments may be put into practice. In the accompanying drawings:

Fig. 1 is a schematic diagram of an operator in communication with a multiple of remote controlled vehicles;

Fig. 2 is a schematic diagram indicating a feedback loop connecting an operator with a remote 120 controlled vehicle;

Fig. 3 is a schematic diagram indicating multiple operators interacting with multiple remote controlled vehicles coordinated by an overcontroller;

Figs. 4A-F schematically represent a process for establishing unique feedback loops;

Figs. 5 schematically represents a remote telepresence system via which an operator may interact 125 with multiple remote vehicles;

Fig. 6 schematically represents how a live image segment may be spliced with a prerecorded segment;

Fig. 7 illustrates a possible registration process collecting transition shots for segment transformation, as well as an example of the mathematical model of motions analyzed within a video 130 segment;

Fig. 8 is a table illustrating the possibilities of sequential events in interaction session; and

Fig. 9 illustrates two simultaneous communication sessions. DETAILED DESCRIPTION

Aspects of the present disclosure relate to systems and methods for enabling a common operator to control multiple vehicles. The method may enable a remote operator to interact with passengers at multiple locations on a public transport network, seemingly simultaneously, via telepresence.

A set of operator stations, each comprising a control panel via which a human operator can control 140 remote controlled vehicles and a set of remote controlled autonomous vehicles are connected to a communication network. Feedback signals may be sent from the vehicle to the operators and command signals may be sent by the operator to multiple vehicles. An overcontroller manages communications between the operator stations and the remote controlled vehicles.

Drive controls may be provided allowing the operator to remotely pilot the remote vehicles when 145 required and an operator interface is provided to allow the operator to communicate with multiple passengers simultaneously via telepresence.

In various embodiments of the disclosure, one or more tasks as described herein may be performed by a data processor, such as a computing platform or distributed computing system for executing a plurality of instructions. Optionally, the data processor includes or accesses a volatile memory for storing 150 instructions, data or the like. Additionally, or alternatively, the data processor may access a non-volatile storage, for example, a magnetic hard-disk, flash-drive, removable media or the like, for storing instructions and/or data.

It is particularly noted that the systems and methods of the disclosure herein may not be limited in its application to the details of construction and the arrangement of the components or methods set forth in 155 the description or illustrated in the drawings and examples. The systems and methods of the disclosure may be capable of other embodiments, or of being practiced and carried out in various ways and technologies.

Alternative methods and materials similar or equivalent to those described herein may be used in the practice or testing of embodiments of the disclosure. Nevertheless, particular methods and materials are described herein for illustrative purposes only. The materials, methods, and examples are not intended to 160 be necessarily limiting.

Reference is now made to the Fig. 1 which schematically represents a system (A) including a driver (D), a control panel (C), remote vehicles (V), and a communications network (L). The system allows the driver to use the controls (C) to operate one or more of those vehicles simultaneously.

The vehicles (V) could be any kind of wheeled, motorized conveyances: motorcycles, cars, buses, 165 trucks, vans: any vehicle that can be controlled for example by steering, turning a wheel or wheels to the left or to the right, and which can be instructed to increase the motive power and to decrease its operating speed, would be suitable. Even a transportation device without wheels (such as a walking machine,) could qualify as a vehicle (V) if its control mechanism can be abstracted to lateral reorienting motion, acceleration, and deceleration as is commonly used today. 170

The communications links (L) can be any form of information exchange without a physically contiguous connection: it could be radio-based, light-based, or even conveyed via ultrasonics, as long as it can carry or convey one or more digitized data streams. The driver (D) is either a human (using controls (C), explained next,) or some intellect like an artificial intelligence software construct, that has the capacity to operate vehicles of the types mentioned above. If some other primate could be trained / educated to operate 175 vehicles, it could in theory use the system too.

The controls (C) are used by a living driver (D) to operate a vehicle. The device abstraction is typical of today's motorized vehicles: a steering wheel, an accelerator pedal, and a brake pedal. Of course, handle bars, a steering yoke, a lever or slider button, a joy stick, push buttons, or any other control mechanism that can convey a varying amount of left turn, no turn, or a varying amount of right turn could be 180 substituted for the steering wheel, as is most suitable for the driver (D). For example, a quadriplegic could use a head stick or eye scanners to control the sideways motion, if s/he is incapable of operating a steering wheel or finds it difficult. Similarly, the pedals for acceleration and for deceleration are a convenience for drivers accustomed to operating vehicles that way, but could be replaced with hand controls for a driver unable to sufficiently control their legs. The salient point is that the controls (C) provide directional control 185 and velocity regulation, and all other controls necessary to legally and safely operate a vehicle.

The same system (A) is depicted in more detail in Fig. 2. One of the vehicles (V) from the preceding is herein shown providing imaging data feeds (F), which may be passive optical (cameras, with visible and/or infrared and/or ultraviolet light, including stereoscopic vision,) active electromagnetic (lidar, radar, doppler radar) or ultrasonic, as long as they each provide data capable of being depicted, mapped, or 190 converted into a visual representation on a screen for a driver (D) to see. And despite their presentation in the illustration as being externally mounted fore and aft, these feeds (F) can convey pictorial understandings of the area inside vehicle (V) as well as outside of it, and may be directed to perceive before and behind the vehicle (V), to either and/or both sides, above, and even below the vehicle. It is required that one feed identifies and represents the area before vehicle (V) in its usual direction of travel (“forward,”“ahead,”) so 195 that driver (D) is made aware of where vehicle (V) will soon be and can view potential obstacles, dangers, directional signals, other vehicles, road conditions, hazards, traffic markings, individuals, buildings, curbs, potholes, speed bumps, and any other items which may or should be relevant to vehicle (V) 's legal travel. It is desirable that there will be side and/or rear views from outside the vehicle (V), as well, to aid driver (D) in understanding the relationship of the vehicle to other items around it as well as before it, and in 200 understanding the space which the vehicle occupies and through which it drives (or stops or parks.) It is optional that one or more feeds (F) may also image the space inside vehicle (V) except that for applications where vehicle (V) is a conveyance of public transportation then in those applications there should be at least one feed (F) scanning the passenger area(s) of the vehicle.

Further with respect to Fig. 2, vehicle (V) may be optionally equipped with other sensory information 205 of an auditory, positional, and/or haptic nature from a sensor or sensors (S), as well as monitors of the vehicle (V)'s status such as speed, fuel state, engine temperature, and other information sometimes represented by indicators, gauges, lights and sounds on a vehicular dashboard or instrument cluster or display system. All such sensory / status data (S) is combined with the imaging feed(s) (F) and conveyed over communications link (L) through system (A) and presented to the driver (D), similar to what was 210 described above with regards to Fig. 1.

The integration of sensory / status data (S) with the imaging feed(s) (F) may be conveyed to driver (D) via multiple sensory pathways: visual, aural, haptic, and/or vestibular, and conceivably nociceptive and possibly olfactory, as well. Any neurologically receptive channel could be engaged to deliver communications link (L) inputs to the driver's cognitive awareness. The visual data would typically be 215 overloaded beyond the bounds of the driver's visual field in multiple zones or windows, and the spatial relationship between the optical areas, as well as their borders, colorations (including transitions between monochromatic and polychromatic display, or toning enhancements,) and/or visual highlights (e.g.

embedded circles and arrows,) are themselves a vector whereby system (A) can append additional analytical, deduced, and/or inferred information for the driver's perception. Thus the driver's sense of 220 persistence can be engaged by adjusting spatial relations of visual zones outside the visual field, so that when the driver's visual focus returns to changed zone, the cognitive dissonance with the persistent memory will trigger a mental alert, causing the driver to focus immediately on the change, thus accenting the importance of the information and more effectively conveying to driver (D) the additional information generated from analysis of link (L) data and expanding on the driver's ability to perceive multiple vehicles 225 simultaneously. Congruent techniques can be used to enhance aural data (e.g. modifying pitch, tone, speed, and/or volume of multiple auditory channels,) and engage other neuroceptive vectors to the driver's awareness. All is intended to augment the driver's natural capabilities to allow more effective receipt and awareness of multiple data streams from multiple vehicles.

The operating controls from Fig. 1 , combined with the sensory feedback from Fig. 2, together form a 230 feedback loop (FL) between driver (D) and vehicle (V) that is communicated, facilitated, managed, coordinated, and enhanced by system (A). This feedback loop (FL) constitutes a form of “telepresence” in that it allows driver (D) to behave as if s/he is actually at the controls of vehicle (V) instead of located with controls (C). It is noted that the vehicle (V) does not necessarily have to be equipped with physical local controls matching those of the remote controls (C), or even any human-accessible controls or driving 235 position at all, so long as their effect may be operated at a distance; motors operating a steering mechanism without any handle or steering wheel inside the vehicle would be equivalent for this purpose.)

The system (A) described above provides a separate, distinct, and unique depiction of feeds (F) and sense / status data (S) for each vehicle (V) to the driver (D) at the same time, so that the driver is kept simultaneously aware of all vehicles under his/her control. Furthermore, the system (A) switches the 240 transmission of output from controls (C) to various vehicles (V) at different times. When driver (D) is actively controlling one vehicle (V1 ), the system (A) maintains the state of control sent to other vehicles, effectively allowing one driver to control multiple vehicles simultaneously. Therefore, by simultaneously maintaining the feedback from multiple vehicles (V) to the driver (D), as described, and by issuing control commands simultaneously to those same multiple vehicles (V) from the same driver (D), as also just stated, the system 245

(A) is effectively providing driver telepresence to multiple vehicles simultaneously.

The system (A) described above will optionally report the actions of each driver (D) to an “overcontroller” (0), whether another human or a software module, as shown in Fig. 3. This overcontroller (0) will recognize when the particular driver (D1 ) is actively engaged in telepresence with a particular vehicle (V1 ). In such a case the overcontroller will direct other vehicles (Vn) to be controlled by other drivers 250 (Dm) instead of the particular driver (D1 ), if the particular driver (D1 ) would be unable to handle the needs of some other vehicle (V2). This process is described and illustrated in the following steps (A through F, corresponding to Figs. 4A through 4F):

A. The particular driver (D1 ) begins to telepresence with a particular vehicle (V 1 ). The feedback loop (FL1 ) is established. (See Fig. 4A.) 255

B. The overcontroller (0) receives a signal that feedback loop (FL1 ) has been established, and notes that driver (D1 ) is no longer available. (See Fig. 4B.)

C. Some other vehicle (V 3) needs to be connected via telepresence with a driver. (The relevant circumstances for this“need” are discussed below.) The overcontroller (0) is notified. (See Fig. 4C.)

D. The overcontroller (0) notes that the particular driver (D1 ) is unavailable, and orders another 260 driver (D2) to telepresence with the other vehicle (V 3), instead. (See Fig. 4D.)

E. Another driver (D2) connects with the other vehicle (V 3), and establishes feedback loop (FL2).

(See Fig. 4E.)

F. When the particular driver (D1 ) completes the telepresence activity, and feedback loop (FL1 ) is disconnected, the overcontroller (0) is notified. The overcontroller (0) notes that driver (D1 ) is once again 265 available. (See Fig. 4F.)

It should be noted that the number m of drivers in the overall system may be different from the number of vehicles n, and may be more than, the same as, or less than the number of vehicles. This last case, where there are less drivers than vehicles, is the normal case, and distinguishes this system from other telepresence systems, in that a smaller number of drivers m is controlling a larger number of vehicles 270 n.

The functionality of the overcontroller (0) described above may also be implemented internally within the set of systems (A1 ) through (Am) rather than external to them, either by designating one system (Ax) within the set of systems (A1 ) through (Am) to include that functionality, or else by distributing the functionality throughout the entire set of systems (A1 ) through (Am) and having those systems negotiate 275 with each other to determine which vehicle (Vi) to connect with which driver (Dj). This alternate implementation of the same architecture would have use in applications where the anticipated need for overcontrol functionality was low relative to the total capacity of the aggregated systems, especially where the number of drivers m is close to the number of vehicles n for whatever reason.

However the overcontroller (0) is actually implemented, the circumstances under which this 280 functionality is executed remain the same. A vehicle is said to“need” a driver (as mentioned in step C, above,) when a human driver is preferred by the overcontroller (0), by another driver (Dk), when a customer or person either inside or outside vehicle (V) gives a voice, visual, electronic, or other signal for attention, or when for reasons of automated management the Al controlling vehicle (V) notifies system (A) that it is relinquishing automated control, or some other automated agency (such as a“smart city” controller or a 285 “smart road” monitor) recommends that the Al should no longer control vehicle (V) - when any of the aforementioned“decide” that a human driver is required for safety, legal liability, malfunction, or customer service interaction, then the“need” described in step C occurs.

Driver Monitoring

The system (A) described above will optionally monitor the driver (D)'s response times to situations, 290 and/or monitor physiological and/or neurological instruments connected to the driver, to proactively warn of the driver's need for rest. The system would inform the driver that his/her performance was impaired, and recommend summoning a replacement.

If the overcontroller (0) functionality discussed previously is also implemented, whether as an external module as first described, or internally to the system (A) as described subsequently, then the 295 overcontroller (0) functionality may also use the results of that driver monitoring to affect the determination of assigning a specific vehicle (V) either to that driver (Dj) or to some other driver (Dk). This could be done by factoring the relative loads of the vehicles currently assigned to each driver, weighting them against the normalized performance of each driver adjusted for the measured performance impairment, if any, and assigning the specific vehicle (V) to the driver with the lowest factored, weighted, adjusted, and computed 300 values.

Logging

The system (A) described above will optionally log all data for legal and liability reasons as well as for later training, analysis, and machine learning. The logging may be done in a unified data stream without divisions of data, in a unified recording with tagging or prioritizing markers either embedded or in a separate 305 information channel, or else done in differentiated data streams, possibly over different media. For all cases in the previous list where there is some method or technique of distinction, this division will be to prioritize the data in two to four different categories: 1 - operations that the driver (D) conveyed to controls (C) and/or the commands transmitted to vehicle (V) as a direct or indirect result of those operations; and 2 - the combination of video feeds (F) and sensor data (S) delivered over link (L) to system (A). Where there are 310 more than two types of logging information, then this second type (2) may be split into a third and also possibly into a fourth stream or channel. Where the analysis divides the logging into three levels of results, then the first remains the transmissions from system (A) to vehicle (V), while the remainder, consisting of receptions by system (A) from vehicle (V), is again bifurcated using the same prioritization performed to divide information within and 315 outside of driver (D)'s visual field; thus, a second category may include data which was shown in the driver's focus and/or delivered through other sensory vectors (e.g. aural and haptic feedback); and a third category may include data conveyed outside of the visual field and/or not presented to the driver (D) at all (for whatever reason.)

For a separation into four logging categories, the receptions by system (A) from vehicle (V) which 320 may alternatively be divided into three subcategories, thus an alternative second category may include only visual feeds in the driver (D) 's field of view; an alternative third category may include non-visual data of all kinds; and a fourth category may include data presented outside the focus and/or not presented at all.

It may also occur that the least desired category, of“unused” information, streams, images, sensor readings, etc., is not recorded, streamed, or logged together with the other types, or at all. This could be 325 theoretically treated as a third, fourth, or fifth category of data, albeit one which is unlogged.“Logging” will have occurred when any portion of the data entering system (A) is outputted to a device or data channel for retention / storage / analysis afterwards.

Data Throttling

The system (A) described above will optionally adjust the streams of data flowing over 330 communications link (L) so that the maximum amount of necessary data is transmitted from the vehicle (V) and the minimum amount of unnecessary data. The system monitors the status of each vehicle and prioritizes the transmission and importance of the various video streams and telemetry from the remotely controlled vehicle and adjusts the encoding and data rate of the various video and telemetry streams to available bandwidth and Quality of Service. This process of data throttling uses the same criteria as 335 described above for Logging.

The system (A) transmits the current priorities and recommended encodings for the various streams to the vehicle (V), where a communication unit (U) concentrates the various video feeds (F) and sensory / status readings (S) and actually transmits them onto communications link (L). That communication unit accepts the priorities and encoding recommendations from the system and adjusts / alters / modifies and/or 340 sorts the packets of data actually sent through the link. This process of dynamic data throttling gives driver (D) the greatest“value” of information that s/he want and needs from feedback loop (FL).

In other embodiments, a system and a set of processes will allow a remote operator and/or automated assistant to interact one way or back and forth by video and/or audio communications with one location or multiple locations and provide the appearance of telepresence with near simultaneity. 345

Telepresence System

As shown in Fig. 5, the remote telepresence system will consist of at least a control system (A) and a data communications system (Ln), as well as a static or movable 2D or 3D visual output device (Mn) (i.e.

video screen, human head shaped skinnable projector or video screen, animatronic humanoid or other head, perhaps another 2D or 3D representation of a driver) and visual input source (Fn) (i.e. camera or 350 similar system) mounted in public transit bus, limousine, taxi, train, airplane and other conveyances or vehicles with or without passengers, and/or static locations including taxi stands, bus stops, train stations (V1 through V5). An audio system is available at each location (V n), as well, consisting of a sound detection system (e.g., a microphone) and a sound output device (typically a loudspeaker or loudspeakers), and incorporated with the visual output device (Mn). 355

The control system (A) allows a remote operator (D) to view whatever each input source (Fn) can see, and projects an image to each corresponding output device (Mn). Some or up to all of the targets (Vn) are displayed to operator (D) simultaneously. The control system (A) also lets the remote operator (D) select any particular target (V n) to engage with interactively. This interaction is achieved through an audiovideo (“a-v”) interface (I), including a video display and camera, a microphone, and a loudspeaker or else an 360 earphone / headset (where the latter may also incorporate the microphone).

Registration Process

The remote operator (D) begins each working session with a registration process. During the Registration Process, the control system (A) records brief video and/or audio tracks / clips / segments to be used during changes (“transitions”) between targets (V). These segments will include the operator turning 365 his / her head from each side, to facing the camera (in the a-v interface (I)) head on, and moving away, for example. Segments will also include approaching nearer and drawing back from the camera, tilting the eye focus and the head up and down, etc. There will also be segments where the operator records culturally acceptable delaying, stalling, unfocused, or attention-deflecting phrases, such as “Hold on,” “Wait a moment,”“I'll be right with you,”“Excuse me,” etc., accompanied with appropriate facial, hand, body, and/or 370 other non-verbal gestures for these phrases, expressions, exclamations, and utterances. Several conversation openings, beginnings, initiations such as“Hello,” and“Good morning,” (or afternoon or evening - the registration process is only to establish segments to be used for the next several hours, at most,) and closings, completions (e.g.,“Have a nice day,”“Goodbye,”) are also recorded. Other, optional segments may also be recorded at this time, or else they may be recorded later. 375

The control system (A) will prompt the operator (D) through a list of these segments, and record them from one or more different camera angles. Each segment will then be analyzed for starting and ending facial positions, coordinates, mappings and expressions, and precise time coordinates attached to them in a datastore (DS) (see Fig. 5 for datastore, and Measurement Process, below, for details.) That information is used both to ensure that the Registration Process has been completed correctly, and to index 380 the segments so that they may be retrieved rapidly as and when needed. Each segment is classified into at least one of three categories as described above: delay, open, or close. Where culturally, linguistically, or socially appropriate, the same segment may be classified in multiple categories -“Aloha” and“Shalom” are suitable to be used both as open or as close segments, for example. Localized cultural contexts might require additional categories, and it is possible that the operator or others could also create additional 385 categories. The classifications are also recorded in the datastore. The“categories” might be tags, labels, flags, codes, a separate lookup, or any other method which allows more than one“category” to be assigned to each segment. And that data may be stored in the same place in the datastore as the other information, or it may be stored separately.

For delay and close segments, the measurement details recorded are from the first image of the 390 segment. For open and delay segments, the last image of the segment is measured. (The delay segments have two sets of measurements, while the other two only have one set apiece; additional categories would include as part of their definition whether they have both start and end measurements, or only start or only end measurements.) All segments and segment categories must have at least one set of measurements.

After the Registration Process is completed, on a regular or irregular basis during the working 395 session, a Validation Process may be performed to ensure that the recorded segments are still appropriate.

If it is discovered that they are not, parts or all of the Registration Process may be repeated.

The first time ever that the operator performs the Registration Process, s/he will be asked to perform several additional measurements first, as described in the First Time Measurements section under Measurement Process, below. When a new working session begins, a new Registration Process again 400 precedes it.

Transition Processes When the remote operator (D) needs to interact with a second target (V2) while already interacting with a first target (V 1 ), the operator can choose whether to initiate a Succession Process or an Alternation Process and indicates that decision to the control system (A). 405

If the operator has not given an indication to the control system within a very short period of time (that will be configurable / settable / adjustable on a per-system basis,) of what is to be done, then the control system (A) will automatically initiate a Splicing Process, as described next, to incorporate a segment categorized as“delay” into the audio-video stream over communications link (L2) to device (M2) at location (V2). Any person there (at location (V2)) would thus see and/or hear the operator (D) saying and motioning 410 to wait a moment, that s/he was busy.

Measurement Process

The control system (A) has a standardized set of measures that it analyzes to be able to execute the Splicing Process. These measures define the dimensions of the remote operator (D)'s face within the image, and the positions of facial features as they move around during human communications. Whenever 415 some process“measures” an image, these are the measurements that are taken (and partially depicted in Fig. 7 on the left):

The edges of the head (as viewed in the image; unless the face is perpendicular to the camera these will be disproportionate with respect to the eyes and nose, and can help compute head orientation)

The centers of the eyes (the pupils are tracked separately), their distance apart, and the line 420 between them

The tip of the nose, and its width

The edges of the upper and lower lips

The bottom of the chin (if not obscured by a beard) and its relation to the centerline of the face

The opening of the eyelids and the pupils 425

The cheek highlights, and other points recognizable as providing facial expressions

When the hands and/or arms appear in the image, their position and the gestures of each of the fingers are similarly measured, but their coordinates are not used for initial indexing in the datastore, only for use during the Splicing Process

First Time Measurements 430

The first time that an operator performs the Registration Process, an additional set of measurements is taken first. The operator looks directly at the camera of the a-v interface (I) and slowly turns the head left and right and back, and tilts the head up and down and back, and tilts the head from side to side and back. (These motions are depicted in Fig. 7, numbers 1., 2., and 3.) The operator also opens wide and closes their eyes separately and together, and opens wide and closes their mouth, and purses 435 and puckers their lips. The system uses these to establish a baseline of the operator's facial dimensions, the minimum and maximum ratios between facial parts, and their relative positions. These measurements are recorded in the datastore (DS) and used for comparison with all subsequent measurements of the operator's face.

If the operator undergoes a major change in facial appearance, including growing or removing a 440 beard or having facial piercing, plastic surgery, suffers from a stroke, or any other condition that changes the face's mobility or alters its aspect ratio or appearance, this procedure may need to be repeated.

Splicing Process

When a pre-recorded segment from datastore (DS) is merged into an audio-video stream from a-v interface (I), that pre-recorded segment is transformed at either or both ends to“blend” with the stream. 445

The splicing may optionally include either or both of the following transformations: Starting with a“source” image, being the snapshot of the video stream, the initial image of the segment is modified so that it is fully mapped to conform to the source, and then over the course of the segment the mapping is gradually reduced such that before the end of the segment there is no additional mapping, and the remainder of the segment is streamed as recorded. This transformation is depicted on 450 the left side of Fig. 6 (from top to bottom).

Ending with a“target” image which will be a mapping such that the final image of the segment will be fully mapped onto the then current image of the video stream. The amount of transformation needed is estimated, and is begun at a point in the segment which allows the mapping to proceed from none to the complete change by the end of the segment. That is, at the beginning of the Splicing Process the current 455 image's differences are evaluated in accordance with steps A) through C), below, to calculate an estimated time for the transformation to begin. When the replay of the pre-recorded segment reaches that beginning time, a new current image from the stream will be taken, and the computation steps begun again and the mapping steps D) through F) are also executed. As the transformation nears completion, additional snapshots of the current stream are compared, and the transformation may be adjusted again, in a series 460 reminiscent of Zeno's“Achilles and the tortoise” paradox. If the segment completes and the transformation has not blended into the then current state of the feed, the final image from the segment is frozen as a still image, and the system will continue mapping the transformation onto that still image so long as the“target” image is not in synch with the mapped final image. The current image of the stream is again snapshotted, additionally mapping on the still image is performed to continue the transformation, and at the end of that 465 transformation the system again compares with latest current image, iterating repeatedly until the images match. Visually, this will appear as if the remote operator has stopped speaking, but continues to move his/her head and upper body until they have“caught up” with the live operator's actual position and facial expression from the video stream. This transformation is depicted on the right side of Fig. 6 (from bottom to top). 470

For each transformation:

The system, begins by measuring the amount of “difference” between the static image from the segment and the current snapshot from the stream (i.e., the view of the operator from the camera).

This“difference” is computed by finding key facial points in the current snapshot: the edges of the head, the centers of the eyes (not the pupils), the tip of the nose, the edge of the upper lip, together with 475 lesser points like eyebrow and chin, and measuring their ratio to each other (to determine the relative distance of the face from the camera) and their respective orientations.

When the tops of the shoulders (one or both) are visible in either the segment image or the stream snapshot, then those“differences” are measured, as well, taking into account cases where they come into and out of the field of view. 480

To increase the realism of the segment simulation, the system may also compute the“difference” of various facial characteristics, and shoulder / arm / hand positions, if they appear in the images, but unlike other“differences”, the“translations” for these differences would only occur in an“interstitial period” before the beginning of the segment or after the completion of the segment, depending on whether the transformation is from stream to segment or from segment to stream, respectively. The computed 485 translation time (see next step) would be in addition to the length of time of the segment, rather than occurring simultaneously with it.

The system may then compute the amount of time each of several translations will take using a default rate of change defined for that translation. ‘Translations” correspond to movements typical of a human head on a seated body, and total five (5): 1. rotating from side-to-side (as turning the neck - see Fig. 490 7), 2. tilting up-and-down (adjusting the position of the skull such that its top moves forward or backward with respect to the top of the spine), 3. tilting side-to-side (movement of the top of the skull left or right with respect to the top of the spine), 4. moving forward to and backward from the a-v interface (as bending the spine from the waist), and 5. sliding side-to-side (also bending the spine from the waist, but laterally).

These five translations represent the dynamic model for motion of the head in the field of view of the a-v 495 interface to identify, map, coordinate, simulate, recreate, adjust, morph, re-display, and otherwise alter the appearance of the remote operator's head with respect to its appearance on the visual output devices at the various locations. Thus, the system is working with a simplified“physics model” that has a straight, fixed spine pivoting / rotating from a fixed point roughly at the base of the coccyx (and outside the field of view of the a-v interface camera(s)), and a single point neck with three axes of motion. This is the minimum 500 adequate to model the changes to an operator's profile while engaging in telepresencing, although the system may model additional parameters to increase the degree of realism, especially when the output device (Mn) offers 3-D display.

Additional“translations” are measured when one or both shoulders are visible in either the segment image or the stream snapshot, and include tilting (where each shoulder may be raised or lowered with 505 respect to the base of the neck, either separately or together), and pivoting (where the end of the shoulder moves forward or backward with respect to the base of the neck).

The system may then take the maximum of the default change times and compares this against the length of time of the segment. If that maximum time exceeds the segment's length of time, then a multiplicative ratio is computed to adjust the rate of change of each of the translations from step B that 510 exceed the segment's duration, and those product rates will be used for each of the translations so that the entire transformation takes no more time than the duration of the segment.

The system may then use the rates of change computed in the previous step to plan a series of mapping functions in accordance with the possible axes of motions in the“physics model”, where each step in the series corresponds to a frame at the designated frame rate of the resultant video stream. For each 515 possible motion a separate series is generated; where there was no motion on that axis, the resultant series is a set of 0's, Ts, or some other appropriate value indicating no change from frame to frame in that axis.

The minimum number of series generated is five (5), corresponding to the minimum physics model, but there may be more for enhanced realism.

The system may then combine the total set of mappings for each frame into a single formulation, 520 collapsing from the 3-D model back into 2-D if the output stream is not going to a 3-D -capable device.

Each mapping is then applied to the appropriate frame from the pre-recorded segment. If the frame rate of the segment is different than the frame rate of the output stream, an additional interpolation step is added to compute the frame that would have been in the segment if it were at the same speed. This interpolation is a simple fractional mapping of changes between the two adjacent frames, proportional to the difference in 525 time between the two frames preceding and following the time of the output frame. The interpolation is performed before the transformation mapping, to reduce the computational load.

The system may then deliver the series of transformed frames to any necessary compression mechanisms or codecs for output to the appropriate data communications stream (Ln) for that output device. 530

Transition Process: Succession

When the remote operator (D) chooses to initiate a Succession Process to switch from one video telepresence interaction to another, such as from interacting with someone (“pax 1”) communicating with the operator via device (M1 ) at location (V1 ) over link (L1 ), to interacting with someone else (“pax 2”) using device (M2) at location (V 2) over link (L2), the following events occur: 535 Control system (A) presents the operator with a list of segments from datastore (DS) categorized

“open”

The operator chooses one of the“open” segments

The system executes the Splicing Process to feed the chosen“open” segment over link (L2) to pax 2. The final target of the splice is to map onto the current image the operator, so that the operator can 540 continue the interaction without pax 2 realizing that the segment prior to that was pre-recorded.

After the “open” segment has been completely presented to pax 2, and any additional transformations completed to phase in sync with the current video stream of the operator (as described above for Splicing Process transformation 2,) the system notifies the operator that s/he may“go live” and interact directly (via telepresence, of course,) with pax 2. 545

The control system presents the operator with a list of datastore segments categorized“close”

The operator chooses one of the“close” segments

The system executes the Splicing Process to feed the chosen“close” segment over link (L1 ) to pax 1. The original source of the splice is to map from the current image of the operator, so that the prerecorded segment appears to be a continuation of the operator's interaction with pax 1 , without him/her 550 realizing that the operator is no longer directly connected.

The exact sequence of these events does not matter, except that certain events cannot happen before certain other events (as referenced in the table of Fig. 8, and depicted in Fig. 9.) The principle is that each audio-video link (Ln) is operating simultaneously, and that each party (“pax n”) believes that they are still in communication with the operator at the same time. In this way the operator appears to 555 simultaneously telepresence with multiple locations at once.

Transition Process: Alternation

When the remote operator (D) chooses to initiate an Alternation Process to switch back-and-forth between two video telepresence interactions, such as from interacting with someone (“pax 1”) communicating with the operator via device (M1 ) at location (V 1 ) over link (L1 ), to interacting with someone 560 else (“pax 2”) using device (M2) at location (V 2) over link (L2), with the intention of subsequently returning to interaction with the previous person (“pax 1”), the following events occur:

Control system (A) presents the operator with a list of segments from datastore (DS) categorized

“open”

The operator chooses one of the“open” segments 565

The system executes the Splicing Process to feed the chosen“open” segment over link (L2) to pax 2. The final target of the splice is to map onto the current image the operator, so that the operator can continue the interaction without pax 2 realizing that the segment prior to that was pre-recorded.

After the “open” segment has been completely presented to pax 2, and any additional transformations completed to phase in sync with the current video stream of the operator (as described 570 above for Splicing Process transformation 2,) the system notifies the operator that s/he may“go live” and interact directly with pax 2.

The control system presents the operator with a list of datastore segments categorized“delay”

The operator chooses one of the“delay” segments

The system executes the Splicing Process to feed the chosen“delay” segment over link (L1 ) to 575 pax 1. The original source of the splice is to map from the current image of the operator, so that the prerecorded segment appears to be a continuation of the operator's interaction with pax 1 , without him/her realizing that the operator is no longer directly connected. The Splicing Process also maps from the final image of the pre-recorded segment back onto the live stream's current image of the operator. Thus, the “delay” segment is an instance of the Splicing 580 Process with two transformations, rather than just one as occurs with the“open” and“close” segments.

During the course of the interaction with pax 2, the control system again presents the operator with a list of datastore segments categorized “delay”, as well as the option to choose a “close” segment.

Additionally, the user is offered a choice of locations - both the location (V2) where pax 2 is located, and location (V1 ) where pax 1 is located. 585

If/when the operator chooses one of these“delay” segments for location (V 2) / pax 2, the system executes a Splicing Process for continuing the telepresencing session using the pre-recorded segment with pax 2, immediately runs the Splicing Process from the current output image on device (M1 ) to the current image on a-v interface (I), and switches the video stream to pax 1 as soon as they are“caught up” and in synch. This is the actual“alteration” from pax 2 back to pax 1. The process then continues with connection 590

(L1 ) / location (V 1 ) / device (M1 ) / pax 1 exchanged with connection (L2) / location (V2) / device (M2) / pax 2.

If/when the operator chooses a“delay” segment for location (V1 ) / pax 1 , the system executes a Splicing Process that starts with the current output image on device (M1 ) and ends with the final image of the segment. The telepresencing session with pax 2 continues, and pax 1 continues to be“on hold.” 595

If/when the operator chooses to“close”, instead, the system executes a Splicing Process for a chosen“close” segment over link (L2) to pax 2. Simultaneously, the system runs the Splicing Process from the current output image on device (M1 ) to the current image on a-v interface (I), and switches the video stream to pax 1 as soon as they are“caught up” and in synch. This ends the telepresencing session with pax 2 and returns the operator back to telepresencing only with pax 1 , as with a Succession Transition. 600

The flow of these various steps in the Alternation Transition Process are depicted in Fig. 206.

Together with the Succession Transition Process, they provide for a“multitasked conversation” between the remote operator and two other individuals at once, seemingly simultaneously.

Avatar-based Alternative

An alternative implementation of the system could use avatars rather than the actual face and/or 605 voice of the remote operator (D). In this version of the system the transformations described for the Splicing Process would be performed all of the time, except that instead of splicing to or from the live image from a-v interface (I), that image is itself used just for measuring the differences, and then those mappings are used to transform an artificially generated image of the avatar and apply lifelike expressions and speech to it. In this implementation, there would probably also be mapping of the sound from the remote operator's speech, 610 so that the voice of the avatar as well as its overall facial appearance remains the same no matter which remote operator is “animating” the avatar at that moment. Thus the avatar becomes a virtual puppet operated by multiple puppeteers, except that their“operation” of the puppet occurs by them speaking and moving their faces and bodies naturally.

Validation Process 615

From time to time during the working session, control system (A) compares recorded segments with the live feed of the remote operator (D) to ensure that subsequent Transition Processes will not encounter an anomaly that could cause a visual discontinuity and negatively effect the appearance of simultaneity.

For example, the appearance or disappearance of food residues or lipstick on the operator's face, or a change in the operator's hairstyle, would create visual discontinuities that would be noticeable on the 620 display device (Mn). Therefor a snapshot from the live feed is adjusted to match the orientations of several pre-measured segments with different perspectives (to gain a wider view of the edges of the face) or else a system where multiple cameras at different angles are installed, the simultaneous feeds may be blended together.

Lacking a Validation Process does not invalidate the system. In particular, systems implemented to 625 use an Avatar-based Alternative will not require a Validation Process in the same way.

Technical and scientific terms used herein should have the same meaning as commonly understood by one of ordinary skill in the art to which the disclosure pertains. Nevertheless, it is expected that during the life of a patent maturing from this application many relevant systems and methods will be developed. Accordingly, the scope of the terms such as computing unit, network, display, memory, server 630 and the like are intended to include all such new technologies a priori.

As used herein the term“about” refers to at least ± 10 %.

The terms "comprises", "comprising", "includes", "including", “having” and their conjugates mean "including but not limited to" and indicate that the components listed are included, but not generally to the exclusion of other components. Such terms encompass the terms "consisting of and "consisting essentially 635 of".

The phrase "consisting essentially of" means that the composition or method may include additional ingredients and/or steps, but only if the additional ingredients and/or steps do not materially alter the basic and novel characteristics of the claimed composition or method.

As used herein, the singular form "a", "an" and "the" may include plural references unless the 640 context clearly dictates otherwise. For example, the term "a compound" or "at least one compound" may include a plurality of compounds, including mixtures thereof.

The word“exemplary” is used herein to mean“serving as an example, instance or illustration”. Any embodiment described as“exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments or to exclude the incorporation of features from other embodiments. 645

The word“optionally” is used herein to mean“is provided in some embodiments and not provided in other embodiments”. Any particular embodiment of the disclosure may include a plurality of “optional” features unless such features conflict.

Whenever a numerical range is indicated herein, it is meant to include any cited numeral (fractional or integral) within the indicated range. The phrases“ranging/ranges between” a first indicate number and a 650 second indicate number and“ranging/ranges from” a first indicate number“to” a second indicate number are used herein interchangeably and are meant to include the first and second indicated numbers and all the fractional and integral numerals therebetween. It should be understood, therefore, that the description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of the disclosure. Accordingly, the description of a range should be considered to have 655 specifically disclosed all the possible sub-ranges as well as individual numerical values within that range.

For example, description of a range such as from 1 to 6 should be considered to have specifically disclosed sub-ranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6 etc., as well as individual numbers within that range, for example, 1, 2, 3, 4, 5, and 6 as well as non-integral intermediate values. This applies regardless of the breadth of the range. 660

It is appreciated that certain features of the disclosure, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment.

Conversely, various features of the disclosure, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable sub-combination or as suitable in any other described embodiment of the disclosure. Certain features described in the context of various embodiments 665 are not to be considered essential features of those embodiments unless the embodiment is inoperative without those elements. Although the disclosure has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art.

Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the 670 spirit and broad scope of the appended claims.

All publications, patents and patent applications mentioned in this specification are herein incorporated in their entirety by reference into the specification, to the same extent as if each individual publication, patent or patent application was specifically and individually indicated to be incorporated herein by reference. In addition, citation or identification of any reference in this application shall not be construed 675 as an admission that such reference is available as prior art to the present disclosure. To the extent that section headings are used, they should not be construed as necessarily limiting.

The scope of the disclosed subject matter is defined by the appended claims and includes both combinations and sub combinations of the various features described hereinabove as well as variations and modifications thereof, which would occur to persons skilled in the art upon reading the foregoing description. 680

Claims

1. A method for allowing multiple vehicles to be remotely controlled by a common operator over a communication network, the method comprising:

providing a set of operator stations, each operating station comprising a control panel via 685 which a human operator can control at least one remote controlled vehicle, and an operator communication module operable to communicate with said communication network;

providing a set of said remote controlled vehicles, each said remote controlled vehicle comprising an autonomous controller configured and operable to navigate said vehicle independently, and an operator communication interface configured and operable to communicate 690 with at least one operator station via said communication network thereby sending feedback signals to said at least one operating station, and receiving control signals from said operating station;

providing at least one overcontroller configured and operable to manage communications between said operator stations and said remote controlled vehicles;

said overcontroller receiving at least one action report signal from an operator stations, said 695 action report signals indicating that said at least one operator station is actively linked to a remote control vehicle;

said overcontroller receiving at least one link operator-request signal from at least on said remote control vehicles, said operator-request signals indicating that a requesting remote control vehicle requires a connection with an operator station; 700 said overcontroller selecting an operator station from a set of inactive operator stations; said overcontroller selecting establishing a feedback link between the requesting remote control vehicle and the selected inactive operator station thereby rendering the requesting remote control vehicle a linked remote control vehicle, and rendering the selected operator station a linked operator station; 705 said linked operator station receiving feedback signals from said linked remote control vehicle; and

said linked operator station sending control signals to said linked remote control vehicle.

2. The method of claim 1 wherein said control signals comprise command signals, wherein said method further comprises: said linked operator station piloting said linked remote control vehicle. 710

3. The method of claim 1 further comprising said linked operator station receiving audio visual data from a passenger interface on board said linked remote control vehicle.

4. The method of claim 3 further comprising said linked operator station generating an audio-visual output at a passenger interface.

5. The method of claim 4 wherein the step of generating said audio-visual output at a passenger interface 715 comprises generating a series of audio visual projections selected from live segments, pre-recorded segments and transition segments.

6. The method of claim 5 wherein said series of audio visual projections is selected so as to appear smooth and lifelike to a passenger.

7. A system for allowing multiple vehicles to be remotely controlled by a common operator over a 720 communication network, the system comprising:

a set of operator stations, each operator station comprising a control panel via which a human operator can control at least one remote controlled vehicle, and an operator communication module operable to communicate with said communication network;

a set of said remote controlled vehicles, each said remote controlled vehicle comprising an 725 autonomous controller configured and operable to navigate said vehicle independently, and an operator communication interface configured and operable to communicate with at least one operator station via said communication network thereby sending feedback signals to said at least one operating station, and receiving control signals from said operating station; and

at least one overcontroller configured and operable to manage communications between said 730 operator stations and said remote controlled vehicles, said overcontroller comprising an overcontroller communication module operable to:

receive action report signals from said operator stations, said action report signals indicating if said operator station is actively linked to a remote control vehicle; and

receive link operator-request signals from said remote control vehicles, said operator-request 735 signals indicating that a requesting remote control vehicle requires a connection with an operator station;

wherein said system is further operable to select an operator station from a set of inactive operator stations and to establish a feedback link between the requesting remote control vehicle and the selected inactive operator station. 740

8. The system of claim 7 wherein each said operator station comprises drive controls comprising at least one steering mechanism, at least one braking mechanism and at least one throttle thereby enabling said operator to manually pilot at least one remote controlled vehicle.

9. The system of claim 7 wherein said operator communication module is operable to receive feedback signals selected from kinematic parameters related to objects external to said remote controlled vehicle, and 745 diagnostic parameters related to the health status of the remote controlled vehicle.

10. The system of claim 7 wherein said operator communication module is operable to receive feedback signals from a passenger via at least one passenger interface on board the remote controlled vehicle.

1 1. A system for allowing multiple vehicles to be remotely controlled by a common operator over a communication network, the system comprising: 750 a set of operator stations, each operating station comprising a control panel via which a human operator can control at least one remote controlled vehicle, and an operator communication module operable to communicate with said communication network;

a set of said remote controlled vehicles, each said remote controlled vehicle comprising an autonomous controller configured and operable to navigate said vehicle independently, and an 755 operator communication interface configured and operable to communicate with at least one operator station via said communication network thereby sending feedback signals to said at least one operating station, and receiving control signals from said operating station; and

at least one overcontroller configured and operable to manage communications between said operator stations and said remote controlled vehicles. 760

12. The system of claim 11 wherein each said operator station comprises drive controls enabling said operator to manually pilot at least one remote controlled vehicle.

13. The system of claim 12 wherein said drive controls comprise at least one steering mechanism, at least one braking mechanism and at least one throttle.

14. The system of claim 12 wherein said drive controls are selected from a group consisting of: a steering 765 wheel, an accelerator pedal, a gear lever, a brake pedal, a joystick, push buttons, levers, sliders, rudders, eye scanners, head sticks and combinations thereof.

15. The system of claim 1 1 wherein said autonomous controller of said remote controlled vehicles comprises environmental sensors operable to detect kinematic parameters related to objects external to said remote controlled vehicle. 770

16. The system of claim 15 wherein said kinematic parameters are selected from the group consisting of distance, relative velocity, absolute velocity, acceleration and combinations thereof.

17. The system of claim 15 wherein said environmental sensors are selected from the group consisting of video cameras, microphones, infrared sensors, ultraviolet sensors, lidar sensors, radar sensors, doppler sensors, ultrasonic sensors, vibration sensors, piezoelectric elements and combinations thereof. 775

18. The system of claim 1 1 wherein said autonomous controller of said remote controlled vehicles comprises internal sensors operable to detect diagnostic parameters related to the health status of the remote controlled vehicle.

19. The system of claim 18 wherein said diagnostic parameters are selected from the group consisting of current velocity, acceleration, fuel state, engine temperature, oil level, door status, tire pressure, cabin 780 temperature, emission levels and combinations thereof.

20. The system of claim 15 wherein said internal sensors are selected from the group consisting of thermistors, thermocouples, temperature gauges, piezoelectric elements, pressure gauges, strain gauges, optical detectors, audio detectors and combinations thereof.

21. The system of claim 1 1 wherein said remote controlled vehicle further comprises manual drive controls 785 enabling a local driver to manually pilot said remote controlled vehicle.

22. The system of claim 11 wherein said operator communication interface is operable to send feedback signals selected from kinematic parameters related to objects external to said remote controlled vehicle, and diagnostic parameters related to the health status of the remote controlled vehicle.

23. The system of claim 1 1 wherein said remote controlled vehicle further comprises at least one passenger 790 interface operable to provide a communication channel between a passenger on board the remote controlled vehicle and at least one operator.

24. The system of claim 23 wherein said passenger interface comprises at least one visual output device, at least one audio output device, at least one visual input device and at least one audio input device.

25. The system of claim 24 wherein said at least one visual output device is selected from group consisting 795 of an animatronic head, a humanoid head, a holographic image and combinations thereof.

26. The system of claim 24 wherein said at least one visual output device is selected from group consisting of a video screen, human head shaped skinnable projector, a video avatar and combinations thereof.

27. The system of claim 23 wherein said operator communication interface is operable to send feedback signals selected from video communication detected by said video input device and audio communication 800 detected by said audio input device.

28. The system of claim 1 1 wherein said overcontroller comprises an overcontroller communication module operable to:

receive action report signals from said operator stations, said action report signals indicating if said operator station is actively linked to a remote control vehicle; and 805 receive link operator-request signals from said remote control vehicles, said operator-request signals indicating that a requesting remote control vehicle requires a connection with an operator station;

wherein said system is further operable to select an operator station from a set of inactive operator stations and to establish a feedback link between the requesting remote control vehicle and the selected inactive 810 operator station.