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Conference Paper

Bilateral Control of the Degree of Connectivity in Multiple Mobile-robot Teleoperation

MPS-Authors
http://pubman.mpdl.mpg.de/cone/persons/resource/persons83915

Franchi,  A
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons83839

Bülthoff,  HH
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons84174

Robuffo Giordano,  P
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

Secchi, C., Franchi, A., Bülthoff, H., & Robuffo Giordano, P. (2013). Bilateral Control of the Degree of Connectivity in Multiple Mobile-robot Teleoperation. In IEEE International Conference on Robotics and Automation (ICRA 2013) (pp. -).


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-B482-4
Abstract
This paper presents a novel bilateral controller that allows to stably teleoperate the degree of connectivity in the mutual interaction between a remote group of mobile robots considered as the slave-side. A distributed leaderfollower scheme allows the human operator to command the overall group motion. The group autonomously maintains the connectivity of the interaction graph by using a decentralized gradient descent approach applied to the Fiedler eigenvalue of a properly weighted Laplacian matrix. The degree of connectivity, and then the flexibility, of the interaction graph can be finely tuned by the human operator through an additional bilateral teleoperation channel. Passivity of the overall system is theoretically proven and extensive human/hardware in-the-loop simulations are presented to empirically validate the theoretical analysis.