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Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology

MPG-Autoren
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/persons84227

Secchi C, Son,  HI
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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Zitation

Franchi, A., Secchi C, Son, H., Bülthoff, H., & Robuffo Giordano, P. (2012). Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology. IEEE Transaction on Robotics, 28(5), 1019-1033. doi:10.1109/TRO.2012.2196304.


Zitierlink: http://hdl.handle.net/11858/00-001M-0000-0013-B5A6-A
Zusammenfassung
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.