TY - GEN
T1 - Bilateral control of the degree of connectivity in multiple mobile-robot teleoperation
AU - Secchi, Cristian
AU - Franchi, Antonio
AU - Bulthoff, Heinrich H.
AU - Robuffo Giordano, Paolo
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84887265163&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2013.6631089
DO - 10.1109/ICRA.2013.6631089
M3 - Conference contribution
AN - SCOPUS:84887265163
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3645
EP - 3652
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -