Task-space control of bilateral human-swarm interaction with constant time delay

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper presents system framework and control algorithm that enable a human operator to simultaneously interact with a group of swarm robots in a remote environment. In this control system, several characteristics of the configuration of the swarm robots are encoded as task functions, for which a human operator can specify desired values that are conveyed to the end-effector of the master robot. Stability and tracking performance of the proposed control system are investigated in the presence of communication delays so that the swarm robots can be manipulated remotely. Moreover, the swarm robots, which perform like a redundant robotic system, can also regulate their position to achieve secondary tasks autonomously. The proposed control algorithms are validated via numerical simulations on a 3-DOF robot manipulator with a group of mobile robots.

Original languageEnglish
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages1663-1669
Number of pages7
DOIs
Publication statusPublished - 2013 Dec 1
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: 2013 Nov 32013 Nov 8

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period13-11-0313-11-08

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Task-space control of bilateral human-swarm interaction with constant time delay'. Together they form a unique fingerprint.

Cite this