Interacting with Networks of Mobile Agents

Egerstedt, Magnus; Croix, Jean-Pierre de la; Kawashima, Hiroyuki; Kingston, Peter

doi:10.1007/978-3-319-08437-4_3

Cited by 15 publications

(11 citation statements)

References 16 publications

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“…For physical tasks the cooperation of two or more partners is often crucial to enhance functionality and flexibility. A specific related research direction concerns the interaction of a single human with a swarm of multiple cooperating -however physically uncoupled -robots [4]. This setting is particularly attractive as the multi-robot team typically outperforms the human at repetitive and exhausting tasks but not at cognitive reasoning in everyday tasks in unstructured environments.…”

Section: Introductionmentioning

confidence: 99%

Multi-robot manipulation controlled by a human with haptic feedback

Sieber

Musić

Hirche

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-The interaction of a single human with a team of cooperative robots, which collaboratively manipulate an object, poses a great challenge by means of the numerous possibilities of issuing commands to the team or providing appropriate feedback to the human. In this paper we propose a formationbased approach in order to avoid deformations of the object and to virtually couple the human to the formation. Here the human can be interpreted as a leader in a leader-follower formation with the robotic manipulators being the followers. The results of a controllability analysis in such a leader-follower formation suggest that it is beneficial to measure the state of the human (leader) by all physically cooperating manipulators (followers). The proposed approach is evaluated in a full-scale multi-robot cooperative manipulation experiment with humans.

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Section: Introductionmentioning

confidence: 99%

Multi-robot manipulation controlled by a human with haptic feedback

Sieber

Musić

Hirche

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…Some possible future research directions include: 1) reduction of the number of UAVs directly communicating with the master while retaining the same level of performance (e.g., the same level of controllability [43]); 2) elimination of VPs Fig. 10.…”

Section: Summary and Future Researchmentioning

confidence: 99%

Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles

Lee

Franchi

Son

et al. 2013

IEEE/ASME Trans. Mechatron.

165

128

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Abstract-We propose a novel semi-autonomous haptic teleoperation control architecture for multiple unmanned aerial vehicles (UAVs), consisting of three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic Cartesian virtual point (VP); 2) VP control layer, which modulates each VP's motion according to the teleoperation commands and local artificial potentials (for VP-VP/VP-obstacle collision avoidance and VP-VP connectivity preservation); and 3) teleoperation layer, through which a single remote human user can command all (or some) of the VPs' velocity while haptically perceiving the state of all (or some) of the UAVs and obstacles. Master-passivity/slave-stability and some asymptotic performance measures are proved. Experimental results using four custom-built quadrotor-type UAVs are also presented to illustrate the theory.

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“…The passivitybased teleoperation has also been extended to the operation of multiple slave robots [9]- [12]. While [9]- [11] present centralized control architectures in the sense that a robot requires access to all the slave robots, the paper [12] and a series of their related works present fully distributed control strategies, whose architecture is closer to the leader-based control architecture presented in [2], [3].…”

Section: Introductionmentioning

confidence: 99%

“…Due to the focus on higher level human-robot interaction, a simpler model for the robot dynamics is considered in [2], [3] as compared to [12] and other publications on bilateral teleoperation. Also, the main goal of bilateral teleoperation is to guarantee good tracking performance, transparency as well ensure closedloop stability in the presence of factors stemming from remote control (like communication delays).…”

Section: Introductionmentioning

confidence: 99%

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Passivity-based bilateral human-swarm-interactions for cooperative robotic networks and human passivity analysis

Hatanaka

Chopra

Fujita

2015

2015 54th IEEE Conference on Decision and Control (CDC)

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This paper investigates bilateral human-swarminteractions wherein the objective is to guarantee human operator enabled synchronization of positions/velocities of an ensemble of kinematic robots to desired reference inputs. We first present a feedback loop configuration, where every robot implements a cooperative controller and the human visually feedbacks the average positions/velocities of the accessible robots depending on the selected (position or velocity) control modes. Asymptotic synchronization is demonstrated by assuming passivity of an appropriately defined human operator decision process. The aforementioned passivity assumption and learning ability of the operator are studied through experiments on a human-in-the-loop simulator. It is observed that learning has a positive effect on passivity, but passivity of the decision process may nevertheless be violated in the high frequency domain depending on the network connection. Hence, passivation scheme is presented for the operator's decision process and it is demonstrated for three different interconnection structures among the kinematic robots and operator.

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Interacting with Networks of Mobile Agents

Cited by 15 publications

References 16 publications

Multi-robot manipulation controlled by a human with haptic feedback

Multi-robot manipulation controlled by a human with haptic feedback

Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles

Passivity-based bilateral human-swarm-interactions for cooperative robotic networks and human passivity analysis

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