Bilateral teleoperation of multiple mobile agents / Erick J. Rodriguez-Seda in IEEE Transactions on control systems technology, Vol. 18 N° 4 (Juillet 2010)  

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

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