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  Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology

Franchi, A., Secchi, C., Son, H., Bülthoff, H., & Robuffo Giordano, P. (2012). Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology. IEEE Transaction on Robotics, 28(5), 1019-1033. doi:10.1109/TRO.2012.2196304.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-B5A6-A Version Permalink: http://hdl.handle.net/21.11116/0000-0001-8488-0
Genre: Journal Article

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 Creators:
Franchi, A1, 2, Author              
Secchi, C, Author
Son, HI1, 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: 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.

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 Dates: 2012-10
 Publication Status: Published in print
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 Identifiers: DOI: 10.1109/TRO.2012.2196304
BibTex Citekey: FranchiSSBR2012
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Title: IEEE Transaction on Robotics
Source Genre: Journal
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Pages: - Volume / Issue: 28 (5) Sequence Number: - Start / End Page: 1019 - 1033 Identifier: -