Bilateral Teleoperation of Multiple Mobile Agents: Coordinated Motion and Collision Avoidance
Identifieur interne : 000498 ( PascalFrancis/Checkpoint ); précédent : 000497; suivant : 000499Bilateral 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.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Robotique, Hélicoptère.
English descriptors
- KwdEn :
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.
Affiliations:
Links toward previous steps (curation, corpus...)
Links to Exploration step
Pascal:11-0095218Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Bilateral Teleoperation of Multiple Mobile Agents: Coordinated Motion and Collision Avoidance</title><author><name sortKey="Rodriguez Seda, Erick J" sort="Rodriguez Seda, Erick J" uniqKey="Rodriguez Seda E" first="Erick J." last="Rodriguez-Seda">Erick J. Rodriguez-Seda</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Coordinated Science Laboratory, University of Illinois</s1><s2>Urbana, IL 61801</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Illinois</region></placeName></affiliation></author><author><name sortKey="Troy, James J" sort="Troy, James J" uniqKey="Troy J" first="James J." last="Troy">James J. Troy</name><affiliation wicri:level="2"><inist:fA14 i1="02"><s1>Boeing Phantom Works</s1><s2>Seattle, WA 98124</s2><s3>USA</s3><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Washington (État)</region></placeName></affiliation></author><author><name sortKey="Erignac, Charles A" sort="Erignac, Charles A" uniqKey="Erignac C" first="Charles A." last="Erignac">Charles A. Erignac</name><affiliation wicri:level="2"><inist:fA14 i1="02"><s1>Boeing Phantom Works</s1><s2>Seattle, WA 98124</s2><s3>USA</s3><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Washington (État)</region></placeName></affiliation></author><author><name sortKey="Murray, Paul" sort="Murray, Paul" uniqKey="Murray P" first="Paul" last="Murray">Paul Murray</name><affiliation wicri:level="2"><inist:fA14 i1="02"><s1>Boeing Phantom Works</s1><s2>Seattle, WA 98124</s2><s3>USA</s3><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Washington (État)</region></placeName></affiliation></author><author><name sortKey="Stipanovic, Dusan M" sort="Stipanovic, Dusan M" uniqKey="Stipanovic D" first="Dušan M." last="Stipanovic">Dušan M. Stipanovic</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Coordinated Science Laboratory, University of Illinois</s1><s2>Urbana, IL 61801</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Illinois</region></placeName></affiliation></author><author><name sortKey="Spong, Mark W" sort="Spong, Mark W" uniqKey="Spong M" first="Mark W." last="Spong">Mark W. Spong</name><affiliation wicri:level="2"><inist:fA14 i1="03"><s1>School of Engineering and Computer Science, University of Texas</s1><s2>Dallas, TX 75080</s2><s3>USA</s3><sZ>6 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Texas</region></placeName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">11-0095218</idno><date when="2010">2010</date><idno type="stanalyst">PASCAL 11-0095218 INIST</idno><idno type="RBID">Pascal:11-0095218</idno><idno type="wicri:Area/PascalFrancis/Corpus">000520</idno><idno type="wicri:Area/PascalFrancis/Curation">000E51</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000498</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Bilateral Teleoperation of Multiple Mobile Agents: Coordinated Motion and Collision Avoidance</title><author><name sortKey="Rodriguez Seda, Erick J" sort="Rodriguez Seda, Erick J" uniqKey="Rodriguez Seda E" first="Erick J." last="Rodriguez-Seda">Erick J. Rodriguez-Seda</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Coordinated Science Laboratory, University of Illinois</s1><s2>Urbana, IL 61801</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Illinois</region></placeName></affiliation></author><author><name sortKey="Troy, James J" sort="Troy, James J" uniqKey="Troy J" first="James J." last="Troy">James J. Troy</name><affiliation wicri:level="2"><inist:fA14 i1="02"><s1>Boeing Phantom Works</s1><s2>Seattle, WA 98124</s2><s3>USA</s3><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Washington (État)</region></placeName></affiliation></author><author><name sortKey="Erignac, Charles A" sort="Erignac, Charles A" uniqKey="Erignac C" first="Charles A." last="Erignac">Charles A. Erignac</name><affiliation wicri:level="2"><inist:fA14 i1="02"><s1>Boeing Phantom Works</s1><s2>Seattle, WA 98124</s2><s3>USA</s3><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Washington (État)</region></placeName></affiliation></author><author><name sortKey="Murray, Paul" sort="Murray, Paul" uniqKey="Murray P" first="Paul" last="Murray">Paul Murray</name><affiliation wicri:level="2"><inist:fA14 i1="02"><s1>Boeing Phantom Works</s1><s2>Seattle, WA 98124</s2><s3>USA</s3><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Washington (État)</region></placeName></affiliation></author><author><name sortKey="Stipanovic, Dusan M" sort="Stipanovic, Dusan M" uniqKey="Stipanovic D" first="Dušan M." last="Stipanovic">Dušan M. Stipanovic</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Coordinated Science Laboratory, University of Illinois</s1><s2>Urbana, IL 61801</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Illinois</region></placeName></affiliation></author><author><name sortKey="Spong, Mark W" sort="Spong, Mark W" uniqKey="Spong M" first="Mark W." last="Spong">Mark W. Spong</name><affiliation wicri:level="2"><inist:fA14 i1="03"><s1>School of Engineering and Computer Science, University of Texas</s1><s2>Dallas, TX 75080</s2><s3>USA</s3><sZ>6 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Texas</region></placeName></affiliation></author></analytic><series><title level="j" type="main">IEEE transactions on control systems technology</title><title level="j" type="abbreviated">IEEE trans. control syst. technol.</title><idno type="ISSN">1063-6536</idno><imprint><date when="2010">2010</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">IEEE transactions on control systems technology</title><title level="j" type="abbreviated">IEEE trans. control syst. technol.</title><idno type="ISSN">1063-6536</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Collision avoidance</term><term>Coordination</term><term>Distributed control</term><term>Distributed system</term><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><term>Transmission time</term></keywords><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><term>.</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term><term>Hélicoptère</term></keywords></textClass></profileDesc></teiHeader><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></front></TEI><inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>1063-6536</s0></fA01><fA02 i1="01"><s0>IETTE2</s0></fA02><fA03 i2="1"><s0>IEEE trans. control syst. technol.</s0></fA03><fA05><s2>18</s2></fA05><fA06><s2>4</s2></fA06><fA08 i1="01" i2="1" l="ENG"><s1>Bilateral Teleoperation of Multiple Mobile Agents: Coordinated Motion and Collision Avoidance</s1></fA08><fA11 i1="01" i2="1"><s1>RODRIGUEZ-SEDA (Erick J.)</s1></fA11><fA11 i1="02" i2="1"><s1>TROY (James J.)</s1></fA11><fA11 i1="03" i2="1"><s1>ERIGNAC (Charles A.)</s1></fA11><fA11 i1="04" i2="1"><s1>MURRAY (Paul)</s1></fA11><fA11 i1="05" i2="1"><s1>STIPANOVIC (Dušan M.)</s1></fA11><fA11 i1="06" i2="1"><s1>SPONG (Mark W.)</s1></fA11><fA14 i1="01"><s1>Coordinated Science Laboratory, University of Illinois</s1><s2>Urbana, IL 61801</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>5 aut.</sZ></fA14><fA14 i1="02"><s1>Boeing Phantom Works</s1><s2>Seattle, WA 98124</s2><s3>USA</s3><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></fA14><fA14 i1="03"><s1>School of Engineering and Computer Science, University of Texas</s1><s2>Dallas, TX 75080</s2><s3>USA</s3><sZ>6 aut.</sZ></fA14><fA20><s1>984-992</s1></fA20><fA21><s1>2010</s1></fA21><fA23 i1="01"><s0>ENG</s0></fA23><fA43 i1="01"><s1>INIST</s1><s2>26265</s2><s5>354000193739360220</s5></fA43><fA44><s0>0000</s0><s1>© 2011 INIST-CNRS. All rights reserved.</s1></fA44><fA45><s0>25 ref.</s0></fA45><fA47 i1="01" i2="1"><s0>11-0095218</s0></fA47><fA60><s1>P</s1><s3>CC</s3></fA60><fA61><s0>A</s0></fA61><fA64 i1="01" i2="1"><s0>IEEE transactions on control systems technology</s0></fA64><fA66 i1="01"><s0>USA</s0></fA66><fC01 i1="01" l="ENG"><s0>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.</s0></fC01><fC02 i1="01" i2="X"><s0>001D02D11</s0></fC02><fC02 i1="02" i2="X"><s0>001D02B04</s0></fC02><fC02 i1="03" i2="X"><s0>001D02D09</s0></fC02><fC03 i1="01" i2="X" l="FRE"><s0>Téléopération</s0><s5>06</s5></fC03><fC03 i1="01" i2="X" l="ENG"><s0>Remote operation</s0><s5>06</s5></fC03><fC03 i1="01" i2="X" l="SPA"><s0>Teleacción</s0><s5>06</s5></fC03><fC03 i1="02" i2="X" l="FRE"><s0>Esquive collision</s0><s5>07</s5></fC03><fC03 i1="02" i2="X" l="ENG"><s0>Collision avoidance</s0><s5>07</s5></fC03><fC03 i1="02" i2="X" l="SPA"><s0>Esquiva colisión</s0><s5>07</s5></fC03><fC03 i1="03" i2="X" l="FRE"><s0>Robotique</s0><s5>08</s5></fC03><fC03 i1="03" i2="X" l="ENG"><s0>Robotics</s0><s5>08</s5></fC03><fC03 i1="03" i2="X" l="SPA"><s0>Robótica</s0><s5>08</s5></fC03><fC03 i1="04" i2="X" l="FRE"><s0>Commande proportionnelle dérivée</s0><s5>09</s5></fC03><fC03 i1="04" i2="X" l="ENG"><s0>PD control</s0><s5>09</s5></fC03><fC03 i1="04" i2="X" l="SPA"><s0>Control PD</s0><s5>09</s5></fC03><fC03 i1="05" i2="X" l="FRE"><s0>Commande mouvement</s0><s5>10</s5></fC03><fC03 i1="05" i2="X" l="ENG"><s0>Motion control</s0><s5>10</s5></fC03><fC03 i1="05" i2="X" l="SPA"><s0>Control movimiento</s0><s5>10</s5></fC03><fC03 i1="06" i2="X" l="FRE"><s0>Tâche poursuite</s0><s5>11</s5></fC03><fC03 i1="06" i2="X" l="ENG"><s0>Tracking task</s0><s5>11</s5></fC03><fC03 i1="06" i2="X" l="SPA"><s0>Tarea persecución</s0><s5>11</s5></fC03><fC03 i1="07" i2="X" l="FRE"><s0>Formation</s0><s5>12</s5></fC03><fC03 i1="07" i2="X" l="ENG"><s0>Formation</s0><s5>12</s5></fC03><fC03 i1="07" i2="X" l="SPA"><s0>Formación</s0><s5>12</s5></fC03><fC03 i1="08" i2="X" l="FRE"><s0>Système réparti</s0><s5>13</s5></fC03><fC03 i1="08" i2="X" l="ENG"><s0>Distributed system</s0><s5>13</s5></fC03><fC03 i1="08" i2="X" l="SPA"><s0>Sistema repartido</s0><s5>13</s5></fC03><fC03 i1="09" i2="X" l="FRE"><s0>Commande répartie</s0><s5>14</s5></fC03><fC03 i1="09" i2="X" l="ENG"><s0>Distributed control</s0><s5>14</s5></fC03><fC03 i1="09" i2="X" l="SPA"><s0>Control repartido</s0><s5>14</s5></fC03><fC03 i1="10" i2="X" l="FRE"><s0>Relation maître esclave</s0><s5>18</s5></fC03><fC03 i1="10" i2="X" l="ENG"><s0>Master slave relationship</s0><s5>18</s5></fC03><fC03 i1="10" i2="X" l="SPA"><s0>Relación maestro esclavo</s0><s5>18</s5></fC03><fC03 i1="11" i2="X" l="FRE"><s0>Agent mobile</s0><s5>19</s5></fC03><fC03 i1="11" i2="X" l="ENG"><s0>Mobile agent</s0><s5>19</s5></fC03><fC03 i1="11" i2="X" l="SPA"><s0>Agente movil</s0><s5>19</s5></fC03><fC03 i1="12" i2="X" l="FRE"><s0>Coordination</s0><s5>20</s5></fC03><fC03 i1="12" i2="X" l="ENG"><s0>Coordination</s0><s5>20</s5></fC03><fC03 i1="12" i2="X" l="SPA"><s0>Coordinación</s0><s5>20</s5></fC03><fC03 i1="13" i2="X" l="FRE"><s0>Délai transmission</s0><s5>21</s5></fC03><fC03 i1="13" i2="X" l="ENG"><s0>Transmission time</s0><s5>21</s5></fC03><fC03 i1="13" i2="X" l="SPA"><s0>Plazo transmisión</s0><s5>21</s5></fC03><fC03 i1="14" i2="X" l="FRE"><s0>Hélicoptère</s0><s5>22</s5></fC03><fC03 i1="14" i2="X" l="ENG"><s0>Helicopter</s0><s5>22</s5></fC03><fC03 i1="14" i2="X" l="SPA"><s0>Helicóptero</s0><s5>22</s5></fC03><fC03 i1="15" i2="X" l="FRE"><s0>Sensibilité tactile</s0><s5>23</s5></fC03><fC03 i1="15" i2="X" l="ENG"><s0>Tactile sensitivity</s0><s5>23</s5></fC03><fC03 i1="15" i2="X" l="SPA"><s0>Sensibilidad tactil</s0><s5>23</s5></fC03><fC03 i1="16" i2="X" l="FRE"><s0>.</s0><s4>INC</s4><s5>82</s5></fC03><fN21><s1>059</s1></fN21><fN44 i1="01"><s1>OTO</s1></fN44><fN82><s1>OTO</s1></fN82></pA></standard></inist><affiliations><list><country><li>États-Unis</li></country><region><li>Illinois</li><li>Texas</li><li>Washington (État)</li></region></list><tree><country name="États-Unis"><region name="Illinois"><name sortKey="Rodriguez Seda, Erick J" sort="Rodriguez Seda, Erick J" uniqKey="Rodriguez Seda E" first="Erick J." last="Rodriguez-Seda">Erick J. Rodriguez-Seda</name></region><name sortKey="Erignac, Charles A" sort="Erignac, Charles A" uniqKey="Erignac C" first="Charles A." last="Erignac">Charles A. Erignac</name><name sortKey="Murray, Paul" sort="Murray, Paul" uniqKey="Murray P" first="Paul" last="Murray">Paul Murray</name><name sortKey="Spong, Mark W" sort="Spong, Mark W" uniqKey="Spong M" first="Mark W." last="Spong">Mark W. Spong</name><name sortKey="Stipanovic, Dusan M" sort="Stipanovic, Dusan M" uniqKey="Stipanovic D" first="Dušan M." last="Stipanovic">Dušan M. Stipanovic</name><name sortKey="Troy, James J" sort="Troy, James J" uniqKey="Troy J" first="James J." last="Troy">James J. Troy</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PascalFrancis/Checkpoint
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000498 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/PascalFrancis/Checkpoint/biblio.hfd -nk 000498 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= PascalFrancis
|étape= Checkpoint
|type= RBID
|clé= Pascal:11-0095218
|texte= Bilateral Teleoperation of Multiple Mobile Agents: Coordinated Motion and Collision Avoidance
}}
| This area was generated with Dilib version V0.6.23. |  |