Related papers: Bilateral Teleoperation of Multiple Robots under S…
The use of semi-autonomous and autonomous robotic assistants to aid in care of the elderly is expected to ease the burden on human caretakers, with small-stage testing already occurring in a variety of countries. Yet, it is likely that…
This paper addresses the stability conditions of the sampled-data teleoperation systems consisting continuous time master, slave, operator, and environment with discrete time controllers over general communication networks. The output…
In most cases, upgrading from a single-robot system to a multi-robot system comes with increases in system payload and task performance. On the other hand, many multi-robot systems in open environments still rely on teleoperation.…
This paper considers the distributed sampled-data control problem of a group of mobile robots connected via distance-induced proximity networks. A dwell time is assumed in order to avoid chattering in the neighbor relations that may be…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
This paper presents a multiagent approach as a paradigm for scheduling parallel jobs in a parallel system. Scheduling parallel jobs is performed as a means to balance the load of a system in order to improve the performance of a parallel…
This paper develops the time-delay approach to Networked Control Systems (NCSs) in the presence of variable transmission delays, sampling intervals and communication constraints. The system sensor nodes are supposed to be distributed over a…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
This paper considers cooperative control of robots involving two different testbed systems in remote locations with communication on the internet. This provides us the capability to exchange robots status like positions, velocities and…
In this paper, we present a planner for a master dual-arm robot to manipulate tethered tools with an assistant dual-arm robot's help. The assistant robot provides assistance to the master robot by manipulating the tool cable and avoiding…
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…
We present bilateral teleoperation system for task learning and robot motion generation. Our system includes a bilateral teleoperation platform and a deep learning software. The deep learning software refers to human demonstration using the…
This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
Mapping operator motions to a robot is a key problem in teleoperation. Due to differences between workspaces, such as object locations, it is particularly challenging to derive smooth motion mappings that fulfill different goals (e.g.…
This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…
A teleoperated swarm must follow the unpredictable commands of its human operator while remaining connected. When the swarm communications are limited by distance and affected by delays, both the user input and the transmission delays…
We study the synchronization of time-delayed nonidentical maps subject to unidirectional (master-slave) coupling. The individual dynamics of the maps have a delay n1, and the coupling acts with a delay n2. We show analytically that,…