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  Bilateral Control of the Degree of Connectivity in Multiple Mobile-robot Teleoperation

Secchi, C., Franchi, A., Bülthoff, H., & Robuffo Giordano, P. (2013). Bilateral Control of the Degree of Connectivity in Multiple Mobile-robot Teleoperation. In IEEE International Conference on Robotics and Automation (ICRA 2013) (pp. 3645-3652). Piscataway, NJ, USA: IEEE.

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Secchi, C, Author
Franchi, A1, 2, Author              
Bülthoff, HH1, 2, Author              
Robuffo Giordano, P1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 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 leaderfollower 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.

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 Dates: 2013-10
 Publication Status: Published in print
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 Identifiers: BibTex Citekey: SecchiFBR2013
DOI: 10.1109/ICRA.2013.6631089
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Title: IEEE International Conference on Robotics and Automation (ICRA 2013)
Place of Event: Karlsruhe, Germany
Start-/End Date: 2013-05

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Title: IEEE International Conference on Robotics and Automation (ICRA 2013)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 3645 - 3652 Identifier: ISBN: 978-1-4673-5641-1