Decentralized estimation and control for bilateral teleoperation of mobile robot network with task abstraction

Chao Wei Lin, Yen Chen Liu

研究成果: Conference contribution

2 引文 斯高帕斯(Scopus)

摘要

A decentralized bilateral teleoperation system is studied in this paper by using estimators with task abstraction. There is only a part of mobile robots in the multi-robot system can receive the human command via the master robot located in the local side. By exchanging information through a undirected and connected graph, mobile robots in the network have to estimate the human command and the global task function for the control of teleoperation. The control framework is more scalable and flexible that the size and formation of mobile robot network can be teleoperated. Stability analysis is presented and experimental results are illustrated to show the efficacy of the performance of the decentralized teleoperation system.

原文English
主出版物標題ICRA 2017 - IEEE International Conference on Robotics and Automation
發行者Institute of Electrical and Electronics Engineers Inc.
頁面5384-5391
頁數8
ISBN(電子)9781509046331
DOIs
出版狀態Published - 2017 七月 21
事件2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
持續時間: 2017 五月 292017 六月 3

出版系列

名字Proceedings - IEEE International Conference on Robotics and Automation
ISSN(列印)1050-4729

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
國家/地區Singapore
城市Singapore
期間17-05-2917-06-03

All Science Journal Classification (ASJC) codes

  • 軟體
  • 控制與系統工程
  • 人工智慧
  • 電氣與電子工程

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