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.

Bilateral Control of the Degree of Connectivity in Multiple Mobile-robot Teleoperation / Secchi, Cristian; A., Franchi; H. H., Buelthoff; P., Robuffo Giordano. - ELETTRONICO. - (2013), pp. 3645-3652. (Intervento presentato al convegno 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 tenutosi a Karlsruhe, Germany nel 6-10/05/2013) [10.1109/ICRA.2013.6631089].

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

SECCHI, Cristian;
2013

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.
2013
2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Karlsruhe, Germany
6-10/05/2013
3645
3652
Secchi, Cristian; A., Franchi; H. H., Buelthoff; P., Robuffo Giordano
Bilateral Control of the Degree of Connectivity in Multiple Mobile-robot Teleoperation / Secchi, Cristian; A., Franchi; H. H., Buelthoff; P., Robuffo Giordano. - ELETTRONICO. - (2013), pp. 3645-3652. (Intervento presentato al convegno 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 tenutosi a Karlsruhe, Germany nel 6-10/05/2013) [10.1109/ICRA.2013.6631089].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1012932
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