When teleoperating a multi-robot system it is useful to control the kind of behavior of the fleet depending on the environment it is moving in. In this paper, a novel bilateral control architecture for teleoperating a group of mobile robots is proposed. The user can command the robots both as a flexible and amorphous group and as a set of agents executing different trajectories for achieving a desired task, mimicking a conductor-orchestra paradigm. Exploiting passivity based control, we ensure a stable and safe behavior for the user. The proposed teleoperation strategy is validated by means of experiments.

Conducting multi-robot systems: Gestures for the passive teleoperation of multiple slaves / Secchi, Cristian; Sabattini, Lorenzo; Fantuzzi, Cesare. - ELETTRONICO. - (2015), pp. 2803-2808. ((Intervento presentato al convegno IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 tenutosi a Hamburg nel 2015 [10.1109/IROS.2015.7353762].

Conducting multi-robot systems: Gestures for the passive teleoperation of multiple slaves

SECCHI, Cristian;SABATTINI, Lorenzo;FANTUZZI, Cesare
2015

Abstract

When teleoperating a multi-robot system it is useful to control the kind of behavior of the fleet depending on the environment it is moving in. In this paper, a novel bilateral control architecture for teleoperating a group of mobile robots is proposed. The user can command the robots both as a flexible and amorphous group and as a set of agents executing different trajectories for achieving a desired task, mimicking a conductor-orchestra paradigm. Exploiting passivity based control, we ensure a stable and safe behavior for the user. The proposed teleoperation strategy is validated by means of experiments.
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Hamburg
2015
2803
2808
Secchi, Cristian; Sabattini, Lorenzo; Fantuzzi, Cesare
Conducting multi-robot systems: Gestures for the passive teleoperation of multiple slaves / Secchi, Cristian; Sabattini, Lorenzo; Fantuzzi, Cesare. - ELETTRONICO. - (2015), pp. 2803-2808. ((Intervento presentato al convegno IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 tenutosi a Hamburg nel 2015 [10.1109/IROS.2015.7353762].
File in questo prodotto:
File Dimensione Formato  
15IROSa.pdf

non disponibili

Tipologia: Versione dell'editore (versione pubblicata)
Dimensione 714.25 kB
Formato Adobe PDF
714.25 kB Adobe PDF   Visualizza/Apri   Richiedi una copia
Pubblicazioni consigliate

Caricamento pubblicazioni consigliate

Licenza Creative Commons
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/1113391
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 7
  • ???jsp.display-item.citation.isi??? 3
social impact