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

doi:10.1109/TCST.2009.2030176

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 journal › Article › peer-review

Abstract

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 language	English (US)
Article number	5282509
Pages (from-to)	984-992
Number of pages	9
Journal	IEEE Transactions on Control Systems Technology
Volume	18
Issue number	4
DOIs	https://doi.org/10.1109/TCST.2009.2030176
State	Published - Jul 2010

Keywords

Distributed robot systems
Formation control
Networked control systems
Obstacle avoidance
Teleoperation

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Online availability

10.1109/TCST.2009.2030176

Library availability

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title = "Bilateral teleoperation of multiple mobile agents: Coordinated motion and collision avoidance",

abstract = "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.",

keywords = "Distributed robot systems, Formation control, Networked control systems, Obstacle avoidance, Teleoperation",

author = "Rodr{\'i}guez-Seda, {Erick J.} and Troy, {James J.} and Erignac, {Charles A.} and Paul Murray and Stipanovi{\'c}, {Du{\v s}an M.} and Spong, {Mark W.}",

note = "Funding Information: Manuscript received January 19, 2009; accepted June 11, 2009. Manuscript received in final form August 07, 2009.First published October 09, 2009; current version published June 23, 2010. Recommended by Associate Editor C. A. Rabbath. This work was supported by The Boeing Company via the Information Trust Institute.",

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AU - Stipanović, Dušan M.

AU - Spong, Mark W.

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AB - 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.

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

Abstract

Keywords

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