Modeling and control of cooperative teleoperation systems

Sirouspour, Shahin

doi:10.1109/tro.2005.852254

Cited by 147 publications

(83 citation statements)

References 17 publications

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“…To date, considerable research efforts have been invested in developing the control design of fully autonomous multirobot systems. In comparison, it is only in recent years that research has started to address the interaction process between human operators and multi-robots, in particular from a bilateral teleoperation perspective [4], [5], [6].…”

Section: Introductionmentioning

confidence: 99%

Measuring an operator's maneuverability performance in the haptic teleoperation of multiple robots

Son¹,

Chuang²,

Franchi³

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In this paper, we investigate the maneuverability performance of human teleoperators on multi-robots. First, we propose that maneuverability performance can be assessed by a frequency response function that jointly considers the input force of the operator and the position errors of the multi-robot system that is being maneuvered. Doing so allows us to evaluate maneuverability performance in terms of the human teleoperator's interaction with the controlled system. This allowed us to effectively determine the suitability of different haptic cue algorithms in improving teleoperation maneuverability. Performance metrics based on the human teleoperator's frequency response function indicate that maneuverability performance is best supported by a haptic feedback algorithm which is based on an obstacle avoidance force.

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Section: Introductionmentioning

confidence: 99%

Measuring an operator's maneuverability performance in the haptic teleoperation of multiple robots

Son¹,

Chuang²,

Franchi³

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…For instance, it is not clear what is the best way to dispatch the actions of the master to the slaves and what kind of force information feed back to the master side. 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.…”

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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“…In order to let the human operator feel the interaction with the task, the haptic data (slave positions/velocities as well as the interaction forces between the slave and the environment) may be transmitted back to the master site and displayed to the human operator through some sort of haptic interface. In cooperative teleoperator systems, multiple teleoperators perform tasks on the same environment (Sirouspour (2005); Wang et al (2003)). Cooperative teleoperation enables collaboration between human operators that are geographically separated, and may lead to drastic improvement in handling capabilities, dexterity, as well as task completion time.…”

Section: Introductionmentioning

confidence: 99%

A Small Gain Framework for Networked Cooperative Teleoperation

Polushin

2010

IFAC Proceedings Volumes

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A small gain approach for stability analysis of cooperative network-based force reflecting teleoperator systems is presented. The approach is based on a new version of inputto-output stability (IOS) nonlinear small gain theorem that is applicable to stability analysis of large-scale network-based interconnections. Using the small-gain theorem presented, we show that stability of the cooperative teleoperator system can always be achieved by choosing some of the system' gains appropriately.

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Modeling and control of cooperative teleoperation systems

Cited by 147 publications

References 17 publications

Measuring an operator's maneuverability performance in the haptic teleoperation of multiple robots

Measuring an operator's maneuverability performance in the haptic teleoperation of multiple robots

Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance

A Small Gain Framework for Networked Cooperative Teleoperation

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