Bilateral teleoperation of multiple mobile agents: Coordinated motion and collision avoidance

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

Research output: Contribution to journalArticlepeer-review


This paper presents theoretical and experimental results on bilateral teleoperation of multiple mobile slave agents coupled to a single master robot. We first design a passifying proportional-derivative (PD) controller to enforce motion tracking and formation control of master and slave vehicles under constant, bounded communication delays. Then, we incorporate avoidance functions to guarantee collision-free transit through obstructed spaces. The unified control framework is validated by experiments with two coaxial helicopters as slave agents and a haptic device as the master robot.

Original languageEnglish (US)
Article number5282509
Pages (from-to)984-992
Number of pages9
JournalIEEE Transactions on Control Systems Technology
Issue number4
StatePublished - Jul 2010


  • Distributed robot systems
  • Formation control
  • Networked control systems
  • Obstacle avoidance
  • Teleoperation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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