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

页码：2803 / 2808

页数：6

共 49 条

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