Bilateral control of the degree of connectivity in multiple mobile-robot teleoperation

Cristian Secchi, Antonio Franchi, Heinrich Bulthoff, Paolo Robuffo Giordano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

This paper presents a novel bilateral controller that allows to stably teleoperate the degree of connectivity in the mutual interaction between a remote group of mobile robots considered as the slave-side. A distributed leader-follower scheme allows the human operator to command the overall group motion. The group autonomously maintains the connectivity of the interaction graph by using a decentralized gradient descent approach applied to the Fiedler eigenvalue of a properly weighted Laplacian matrix. The degree of connectivity, and then the flexibility, of the interaction graph can be finely tuned by the human operator through an additional bilateral teleoperation channel. Passivity of the overall system is theoretically proven and extensive human/hardware in-the-loop simulations are presented to empirically validate the theoretical analysis.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3645-3652
Number of pages8
DOIs
Publication statusPublished - 2013 Nov 14
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: 2013 May 62013 May 10

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period13/5/613/5/10

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ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Secchi, C., Franchi, A., Bulthoff, H., & Robuffo Giordano, P. (2013). Bilateral control of the degree of connectivity in multiple mobile-robot teleoperation. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3645-3652). [6631089] https://doi.org/10.1109/ICRA.2013.6631089