Bilateral teleoperation of groups of mobile robots with time-varying topology

Antonio Franchi, Cristian Secchi, Hyoung Il Son, Heinrich Bulthoff, Paolo Robuffo Giordano

Research output: Contribution to journalArticle

115 Citations (Scopus)

Abstract

In this paper, a novel decentralized control strategy for bilaterally teleoperating heterogeneous groups of mobile robots from different domains (aerial, ground, marine, and underwater) is proposed. By using a decentralized control architecture, the group of robots, which is treated as the slave side, is made able to navigate in a cluttered environment while avoiding obstacles, interrobot collisions, and following the human motion commands. Simultaneously, the human operator acting on the master side is provided with a suitable force feedback informative of the group response and of the interaction with the surrounding environment. Using passivity-based techniques, we allow the behavior of the group to be as flexible as possible with arbitrary split and join events (e.g., due to interrobot visibility/packet losses or specific task requirements) while guaranteeing the stability of the system. We provide a rigorous analysis of the system stability and steady-state characteristics and validate performance through human/hardware-in-the-loop simulations by considering a heterogeneous fleet of unmanned aerial vehicles (UAVs) and unmanned ground vehicles as a case study. Finally, we also provide an experimental validation with four quadrotor UAVs.

Original languageEnglish
Article number6199993
Pages (from-to)1019-1033
Number of pages15
JournalIEEE Transactions on Robotics
Volume28
Issue number5
DOIs
Publication statusPublished - 2012 May 22

Fingerprint

Decentralized control
Remote control
Unmanned aerial vehicles (UAV)
Mobile robots
Topology
Unmanned vehicles
Ground vehicles
Antenna grounds
Packet loss
System stability
Visibility
Robots
Antennas
Feedback
Hardware

Keywords

  • Decentralized control
  • distributed algorithms
  • distributed robot systems
  • haptics
  • mobile agents
  • multirobot systems
  • networked robots
  • passivity-based control
  • teleoperation of mobile robots
  • telerobotics

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Bilateral teleoperation of groups of mobile robots with time-varying topology. / Franchi, Antonio; Secchi, Cristian; Son, Hyoung Il; Bulthoff, Heinrich; Giordano, Paolo Robuffo.

In: IEEE Transactions on Robotics, Vol. 28, No. 5, 6199993, 22.05.2012, p. 1019-1033.

Research output: Contribution to journalArticle

Franchi, Antonio ; Secchi, Cristian ; Son, Hyoung Il ; Bulthoff, Heinrich ; Giordano, Paolo Robuffo. / Bilateral teleoperation of groups of mobile robots with time-varying topology. In: IEEE Transactions on Robotics. 2012 ; Vol. 28, No. 5. pp. 1019-1033.
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