HapticV1, PascalFrancis, Curation, bibRecord, 000E51

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

Identifieur interne : 000E51 ( PascalFrancis/Curation ); précédent : 000E50; suivant : 000E52

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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A03		`1`		`@0 IEEE trans. control syst. technol.`
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A08	`01`	`1`	`ENG`	`@1 Bilateral Teleoperation of Multiple Mobile Agents: Coordinated Motion and Collision Avoidance`
A11	`01`	`1`		`@1 RODRIGUEZ-SEDA (Erick J.)`
A11	`02`	`1`		`@1 TROY (James J.)`
A11	`03`	`1`		`@1 ERIGNAC (Charles A.)`
A11	`04`	`1`		`@1 MURRAY (Paul)`
A11	`05`	`1`		`@1 STIPANOVIC (Dušan M.)`
A11	`06`	`1`		`@1 SPONG (Mark W.)`
A14	`01`			`@1 Coordinated Science Laboratory, University of Illinois @2 Urbana, IL 61801 @3 USA @Z 1 aut. @Z 5 aut.`
A14	`02`			`@1 Boeing Phantom Works @2 Seattle, WA 98124 @3 USA @Z 2 aut. @Z 3 aut. @Z 4 aut.`
A14	`03`			`@1 School of Engineering and Computer Science, University of Texas @2 Dallas, TX 75080 @3 USA @Z 6 aut.`
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A21				`@1 2010`
A23	`01`			`@0 ENG`
A43	`01`			`@1 INIST @2 26265 @5 354000193739360220`
A44				`@0 0000 @1 © 2011 INIST-CNRS. All rights reserved.`
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A64	`01`	`1`		`@0 IEEE transactions on control systems technology`
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C01	`01`		`ENG`	@0 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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C03	`01`	`X`	`FRE`	`@0 Téléopération @5 06`
C03	`01`	`X`	`ENG`	`@0 Remote operation @5 06`
C03	`01`	`X`	`SPA`	`@0 Teleacción @5 06`
C03	`02`	`X`	`FRE`	`@0 Esquive collision @5 07`
C03	`02`	`X`	`ENG`	`@0 Collision avoidance @5 07`
C03	`02`	`X`	`SPA`	`@0 Esquiva colisión @5 07`
C03	`03`	`X`	`FRE`	`@0 Robotique @5 08`
C03	`03`	`X`	`ENG`	`@0 Robotics @5 08`
C03	`03`	`X`	`SPA`	`@0 Robótica @5 08`
C03	`04`	`X`	`FRE`	`@0 Commande proportionnelle dérivée @5 09`
C03	`04`	`X`	`ENG`	`@0 PD control @5 09`
C03	`04`	`X`	`SPA`	`@0 Control PD @5 09`
C03	`05`	`X`	`FRE`	`@0 Commande mouvement @5 10`
C03	`05`	`X`	`ENG`	`@0 Motion control @5 10`
C03	`05`	`X`	`SPA`	`@0 Control movimiento @5 10`
C03	`06`	`X`	`FRE`	`@0 Tâche poursuite @5 11`
C03	`06`	`X`	`ENG`	`@0 Tracking task @5 11`
C03	`06`	`X`	`SPA`	`@0 Tarea persecución @5 11`
C03	`07`	`X`	`FRE`	`@0 Formation @5 12`
C03	`07`	`X`	`ENG`	`@0 Formation @5 12`
C03	`07`	`X`	`SPA`	`@0 Formación @5 12`
C03	`08`	`X`	`FRE`	`@0 Système réparti @5 13`
C03	`08`	`X`	`ENG`	`@0 Distributed system @5 13`
C03	`08`	`X`	`SPA`	`@0 Sistema repartido @5 13`
C03	`09`	`X`	`FRE`	`@0 Commande répartie @5 14`
C03	`09`	`X`	`ENG`	`@0 Distributed control @5 14`
C03	`09`	`X`	`SPA`	`@0 Control repartido @5 14`
C03	`10`	`X`	`FRE`	`@0 Relation maître esclave @5 18`
C03	`10`	`X`	`ENG`	`@0 Master slave relationship @5 18`
C03	`10`	`X`	`SPA`	`@0 Relación maestro esclavo @5 18`
C03	`11`	`X`	`FRE`	`@0 Agent mobile @5 19`
C03	`11`	`X`	`ENG`	`@0 Mobile agent @5 19`
C03	`11`	`X`	`SPA`	`@0 Agente movil @5 19`
C03	`12`	`X`	`FRE`	`@0 Coordination @5 20`
C03	`12`	`X`	`ENG`	`@0 Coordination @5 20`
C03	`12`	`X`	`SPA`	`@0 Coordinación @5 20`
C03	`13`	`X`	`FRE`	`@0 Délai transmission @5 21`
C03	`13`	`X`	`ENG`	`@0 Transmission time @5 21`
C03	`13`	`X`	`SPA`	`@0 Plazo transmisión @5 21`
C03	`14`	`X`	`FRE`	`@0 Hélicoptère @5 22`
C03	`14`	`X`	`ENG`	`@0 Helicopter @5 22`
C03	`14`	`X`	`SPA`	`@0 Helicóptero @5 22`
C03	`15`	`X`	`FRE`	`@0 Sensibilité tactile @5 23`
C03	`15`	`X`	`ENG`	`@0 Tactile sensitivity @5 23`
C03	`15`	`X`	`SPA`	`@0 Sensibilidad tactil @5 23`
C03	`16`	`X`	`FRE`	`@0 . @4 INC @5 82`
N21				`@1 059`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

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Le document en format XML

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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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<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>
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<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>
</record>

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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

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