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

被引：0
作者：
Secchi, Cristian [1 ]
Sabattini, Lorenzo [1 ]
Fantuzzi, Cesare [1 ]
机构：
[1] Univ Modena & Reggio Emilia, Dept Sci & Methods Engn DISMI, Reggio Emilia, Italy
来源：
2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2015年
关键词：
CONSENSUS;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
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.
引用
收藏
页码：2803 / 2808
页数：6
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