| Titre : | Bilateral teleoperation of multiple mobile agents : coordinated motion and collision avoidance (2011) |
| Auteurs : | Erick J. Rodriguez-Seda, Auteur ; Janes J. Troy, Auteur ; Charles A. Erignac, Auteur |
| Type de document : | Article : texte imprimé |
| Dans : | IEEE Transactions on control systems technology (Vol. 18 N° 4, Juillet 2010) |
| Article en page(s) : | pp. 984-992 |
| Note générale : | Génie Aérospatial |
| Langues : | Anglais |
| Index. décimale : | 629.1 |
| Tags : | Distributed robot systems Formation control Networked Obstacle avoidance Teleoperation |
| Résumé : |
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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| DEWEY : | 629.1 |
| ISSN : | 1063-6536 |
| En ligne : | http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5282509 |
