Bilateral Teleoperation of Groups of Mobile Robots With Time-Varying Topology
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Franchi, Antonio | - |
dc.contributor.author | Secchi, Cristian | - |
dc.contributor.author | Il Son, Hyoung | - |
dc.contributor.author | Buelthoff, Heinrich H. | - |
dc.contributor.author | Giordano, Paolo Robuffo | - |
dc.date.accessioned | 2021-09-06T14:48:52Z | - |
dc.date.available | 2021-09-06T14:48:52Z | - |
dc.date.created | 2021-06-15 | - |
dc.date.issued | 2012-10 | - |
dc.identifier.issn | 1552-3098 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/107270 | - |
dc.description.abstract | In this paper, a novel decentralized control strategy for bilaterally teleoperating heterogeneous groups of mobile robots from different domains (aerial, ground, marine, and underwater) is proposed. By using a decentralized control architecture, the group of robots, which is treated as the slave side, is made able to navigate in a cluttered environment while avoiding obstacles, interrobot collisions, and following the human motion commands. Simultaneously, the human operator acting on the master side is provided with a suitable force feedback informative of the group response and of the interaction with the surrounding environment. Using passivity-based techniques, we allow the behavior of the group to be as flexible as possible with arbitrary split and join events (e.g., due to interrobot visibility/packet losses or specific task requirements) while guaranteeing the stability of the system. We provide a rigorous analysis of the system stability and steady-state characteristics and validate performance through human/hardware-in-the-loop simulations by considering a heterogeneous fleet of unmanned aerial vehicles (UAVs) and unmanned ground vehicles as a case study. Finally, we also provide an experimental validation with four quadrotor UAVs. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Bilateral Teleoperation of Groups of Mobile Robots With Time-Varying Topology | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Buelthoff, Heinrich H. | - |
dc.identifier.doi | 10.1109/TRO.2012.2196304 | - |
dc.identifier.scopusid | 2-s2.0-84867199844 | - |
dc.identifier.wosid | 000309728700003 | - |
dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON ROBOTICS, v.28, no.5, pp.1019 - 1033 | - |
dc.relation.isPartOf | IEEE TRANSACTIONS ON ROBOTICS | - |
dc.citation.title | IEEE TRANSACTIONS ON ROBOTICS | - |
dc.citation.volume | 28 | - |
dc.citation.number | 5 | - |
dc.citation.startPage | 1019 | - |
dc.citation.endPage | 1033 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordAuthor | Decentralized control | - |
dc.subject.keywordAuthor | distributed algorithms | - |
dc.subject.keywordAuthor | distributed robot systems | - |
dc.subject.keywordAuthor | haptics | - |
dc.subject.keywordAuthor | mobile agents | - |
dc.subject.keywordAuthor | multirobot systems | - |
dc.subject.keywordAuthor | networked robots | - |
dc.subject.keywordAuthor | passivity-based control | - |
dc.subject.keywordAuthor | teleoperation of mobile robots | - |
dc.subject.keywordAuthor | telerobotics | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
145 Anam-ro, Seongbuk-gu, Seoul, 02841, Korea+82-2-3290-2963
COPYRIGHT © 2021 Korea University. All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.