Bilateral Teleoperation of Multiple Mobile Agents: Coordinated Motion and Collision Avoidance

Rodriguez-Seda, Erick J.; Troy, James J.; Erignac, Charles A.; Murray, Paul; Stipanović, Dušan M.; Spong, Mark W.

doi:10.1109/tcst.2009.2030176

Cited by 149 publications

(116 citation statements)

References 20 publications

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“…In [3] UAV-BT is performed coupling the position of a master device to the position of the centroid of the formation. On the contrary, [5] presents a UAV-BT scheme where the position of the master device controls the velocity of the centroid.…”

Section: A Related Workmentioning

confidence: 99%

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Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control

Franchi

Masone

Bülthoff

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-We present a decentralized system for the bilateral teleoperation of groups of UAVs which only relies on relative bearing measurements, i.e., without the need of distance information or global localization. The properties of a 3D bearing-formation are analyzed, and a minimal set of bearings needed for its definition is provided. We also design a novel decentralized formation control almost globally convergent and able to maintain bounded and non-vanishing inter-distances among the agents despite the absence of direct distance measurements. Furthermore, we develop a multimaster/multi-slave teleoperation setup in order to control the overall behavior of the group and to convey to the human operator suitable force cues, while ensuring stability in presence of delays and packet losses over the master-slave communication channel. The theoretical framework is validated by means of extensive human/hardware in-the-loop simulations using two force-feedback devices and a group of quadrotors.

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Section: A Related Workmentioning

confidence: 99%

“…This topic received a rapidly-increasing attention in recent years, starting from [1], [2], [3] up to [4] and [5].…”

Section: Introductionmentioning

confidence: 99%

Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control

Franchi

Masone

Bülthoff

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…The studies herein replace the path following task with an environment exploration task, but the results of Son et al (2011) still apply, since haptic feedback based on obstacle avoidance is environmental information that can improve performance of the task. Other researchers have shown similar findings with small groups of robots and were also able to prove no collisions and stability with control theory (Rodríguez-Seda et al, 2010). However, as stated before all the studies above were done in the context of path following tasks, an important class of tasks in robotics, but by no means the only one.…”

Section: Haptics In Human-robot Interactionsupporting

confidence: 65%

Using Haptic Feedback in Human-Swarm Interaction

Nunnally

Walker

Lewis

et al.

Handbook of Research on Design, Control, and Modeling of Swarm Robotics

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A swarm of robots is a large group of individual agents that autonomously coordinate via local control laws. Their emergent behavior allows simple robots to accomplish complex tasks. Since missions may have complex objectives that change dynamically due to environmental and mission changes, human control and influence over the swarm is needed. The field of Human Swarm Interaction (HSI) is young, with few user studies, and even fewer papers focusing on giving non-visual feedback to the operator. The authors will herein present a background of haptics in robotics and swarms and two studies that explore various conditions under which haptic feedback may be useful in HSI. The overall goal of the studies is to explore the effectiveness of haptic feedback in the presence of other visual stimuli about the swarm system. The findings show that giving feedback about nearby obstacles using a haptic device can improve performance, and that a combination of feedback from obstacle forces via the visual and haptic channels provide the best performance.

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“…A lot of interest is arising in the robotics community in single mobile robot teleoperation, see, for instance, [3,11,15] for the case of a flying robot (UAV). However, the bilateral control of multiple slaves through a single master imposes challenges that are absent in the traditional single-master/single-slave systems.…”

Section: Introductionmentioning

confidence: 99%

“…In [14], a multi-master/multi-slave teleoperation system with no delay is developed and a centralized strategy for controlling the cooperative behavior of the robots is proposed. In [11], a centralized bilateral control strategy that allows to coordinate the motion between the master and the slaves under arbitrary time delay is proposed. In our view, a main limitation of this and similar approaches lies in the rigidity of the group of teleoperated robots which is not allowed, for example, to actively reshape the formation by means of autonomous split and join maneuvers.…”

Section: Introductionmentioning

confidence: 99%

Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance

Giordano

Franchi

Secchi

et al. 2011

Robotics: Science and Systems VII

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Abstract-In this paper, we present a decentralized passivitybased control strategy for the bilateral teleoperation of a group of Unmanned Aerial Vehicles (UAVs). The human operator at the master side can command the group motion and receive suitable force cues informative about the remote environment. By properly controlling the energy exchanged within the slave side (the UAV group), we guarantee that the connectivity of the group is preserved and we prevent inter-agent and obstacle collisions. At the same time, we allow the behavior of the UAVs to be as flexible as possible with arbitrary split and join maneuvers. The results of the paper are validated by means of human/hardwarein-the-loop (HHIL) simulations.

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Bilateral Teleoperation of Multiple Mobile Agents: Coordinated Motion and Collision Avoidance

Cited by 149 publications

References 20 publications

Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control

Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control

Using Haptic Feedback in Human-Swarm Interaction

Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance

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