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Bilateral Teleoperation of Multiple Mobile Agents: Coordinated Motion and Collision Avoidance

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Bilateral Teleoperation of Multiple Mobile Agents: Coordinated Motion and Collision Avoidance

Auteurs : Erick J. Rodriguez-Seda [États-Unis] ; James J. Troy [États-Unis] ; Charles A. Erignac [États-Unis] ; Paul Murray [États-Unis] ; Dušan M. Stipanovic [États-Unis] ; Mark W. Spong [États-Unis]

Source :

IEEE transactions on control systems technology [ 1063-6536 ] ; 2010.

RBID : Pascal:11-0095218

Descripteurs français

Pascal (Inist)
- Téléopération, Esquive collision, Robotique, Commande proportionnelle dérivée, Commande mouvement, Tâche poursuite, Formation, Système réparti, Commande répartie, Relation maître esclave, Agent mobile, Coordination, Délai transmission, Hélicoptère, Sensibilité tactile, ..
Wicri :
- topic : Robotique, Hélicoptère.

English descriptors

KwdEn :
- Collision avoidance, Coordination, Distributed control, Distributed system, Formation, Helicopter, Master slave relationship, Mobile agent, Motion control, PD control, Remote operation, Robotics, Tactile sensitivity, Tracking task, Transmission time.

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.

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Le document en format XML

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<term>Formation</term>
<term>Helicopter</term>
<term>Master slave relationship</term>
<term>Mobile agent</term>
<term>Motion control</term>
<term>PD control</term>
<term>Remote operation</term>
<term>Robotics</term>
<term>Tactile sensitivity</term>
<term>Tracking task</term>
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<keywords scheme="Pascal" xml:lang="fr"><term>Téléopération</term>
<term>Esquive collision</term>
<term>Robotique</term>
<term>Commande proportionnelle dérivée</term>
<term>Commande mouvement</term>
<term>Tâche poursuite</term>
<term>Formation</term>
<term>Système réparti</term>
<term>Commande répartie</term>
<term>Relation maître esclave</term>
<term>Agent mobile</term>
<term>Coordination</term>
<term>Délai transmission</term>
<term>Hélicoptère</term>
<term>Sensibilité tactile</term>
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<term>Hélicoptère</term>
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<front><div type="abstract" xml:lang="en">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.</div>
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Bilateral Teleoperation of Multiple Mobile Agents: Coordinated Motion and Collision Avoidance

Bilateral Teleoperation of Multiple Mobile Agents: Coordinated Motion and Collision Avoidance

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri