Task-space coordination control of bilateral human-swarm systems

研究成果: Article同行評審

23 引文 斯高帕斯(Scopus)


This paper proposes a system framework and control algorithms that enable a human operator to simultaneously interact with a group of swarm robot in a remote environment. In order to cope with kinematic dissimilarity and spatial discrepancy between human and swarm systems, a task-oriented control framework is developed. Based on the proposed control system, the human operator is able to convey action commands to the swarm, and the swarm robot can provide feedback information for the human operator. Additionally, the cognitive limitation of the human operator due to lack of entire information about the remote environment can be mitigated by utilizing the null-space of the swarm robot. Stability and performance of the proposed control system are investigated when the communication channels are subject to time delays and the system is influenced by non-passive external forces. The control algorithms are validated via numerical simulations on a 3-DOF robotic manipulator with a group of mobile swarm robot.

頁(從 - 到)311-331
期刊Journal of the Franklin Institute
出版狀態Published - 2015 1月 1

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 訊號處理
  • 電腦網路與通信
  • 應用數學


深入研究「Task-space coordination control of bilateral human-swarm systems」主題。共同形成了獨特的指紋。