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

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 mo- bile 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.
Type de document :
Communication dans un congrès
IEEE Int. Conf. on Robotics and Automation, ICRA 2013, May 2013, Karlsruhe, Germany. pp.3645-3652, 2013, 〈10.1109/ICRA.2013.6631089〉
Liste complète des métadonnées

Littérature citée [16 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-00910833
Contributeur : Eric Marchand <>
Soumis le : jeudi 28 novembre 2013 - 12:04:23
Dernière modification le : mardi 16 janvier 2018 - 15:54:11
Document(s) archivé(s) le : lundi 3 mars 2014 - 17:50:21

Fichier

2013_icra_secchi.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Citation

Christian Secchi, Antonio Franchi, Heinrich H Bülthoff, Paolo Robuffo Giordano. Bilateral Control of the Degree of Connectivity in Multiple Mobile-Robot Teleoperation. IEEE Int. Conf. on Robotics and Automation, ICRA 2013, May 2013, Karlsruhe, Germany. pp.3645-3652, 2013, 〈10.1109/ICRA.2013.6631089〉. 〈hal-00910833〉

Partager

Métriques

Consultations de la notice

304

Téléchargements de fichiers

139