Telerobotics, automation, and human supervisory control
Telerobotics, automation, and human supervisory control
Remote control in telerobotic surgery
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Effects of network delay on a collaborative motor task with telehaptic and televisual feedback
VRCAI '04 Proceedings of the 2004 ACM SIGGRAPH international conference on Virtual Reality continuum and its applications in industry
Combating latency in haptic collaborative virtual environments
Presence: Teleoperators and Virtual Environments
Dual-master teleoperation control of kinematically redundant robotic slave manipulators
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Development of a Multi-modal Multi-user Telepresence and Teleaction System
International Journal of Robotics Research
Trilateral teleoperation control of kinematically redundant robotic manipulators
International Journal of Robotics Research
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In this paper, various coordinated control schemes are explored in Multioperator-Multirobot (MOMR) teleoperation through a communication network with time delay. Over the past decades, problems and several notable results have been reported mainly in the Single-Operator-Single-Robot (SOSR) teleoperation system. Recently, the need for cooperation has rapidly emerged in many possible applications. suck as plant maintenance, construction, and surgery, because multirobot co-operation would have a significant advantage over a single robot in such cases. Thus, there is a growing interest in the control of multirobot systems in remote teleoperation, too. However, the time delay over the network would pose a more difficult problem to MOMR teleoperation systems and seriously affect their performance. In this work, our recent efforts devoted to the coordinated control of the MOMR teleoperation is described. First, we build a virtual experimental test bed to investigate the cooperation between two telerobots in remote environments. Then, different coordinated control aids are proposed to cope with collisions arising from delayed visual feedback from the remote location. To verify the validity of the proposed schemes, we perform extensive simulations of various planar rearrangement tasks employing local and remote graphics simulators over an ethernet LAN subject to a simulated communication delay.