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— We consider the flocking of multiple agents which have significant inertias and evolve on a balanced information graph. We first show that flocking algorithms that neglect agents' inertial effect can cause unstable group behavior. To incorporate this inertial effect, we use the passive decomposition , which decomposes the closed-loop group dynamics into(More)
—We propose a novel control framework for bilateral teleoperation of a pair of multi-degree-of-freedom nonlinear robotic systems under constant communication delays. The proposed framework uses the simple proportional-derivative control, i.e., the master and slave robots are directly connected via spring and damper over the delayed communication channels.(More)
—We propose a passive bilateral teleoperation control law for a pair of-degree-of-freedom (DOF) nonlinear robotic systems. The control law ensures energetic passivity of the closed-loop teleoperator with power scaling, coordinates motions of the master and slave robots, and installs useful task-specific dynamics for inertia scaling, motion guidance, and(More)
— We consider bilateral teleoperation of a wheeled mobile robot over communication channels with constant delays. Our main objective is to enable humans to control the mobile robot much as they drive a car: i.e. by operating a master haptic joystick, they can control the linear velocity and heading angle of the mobile robot, much like they do so with the(More)
We propose novel distributed exponentially-converging control frameworks for flocking and centroid trajectory tracking of multiple thrust-propelled vehicles (TPVs), which consist of the under-actuated translation dynamics on E(3) with one-dimensional thrust-force input and the fully-actuated attitude kinematics on SO(3) with angular-rates inputs; and(More)
— One of the key challenges in mobile robot teleoper-ation is master-slave kinematic dissimilarity: master device (e.g., joystick) has a bounded workspace, while slave mobile robot can/should cover an unbounded workspace. A direct master-position/slave-velocity coupling has been frequently used for this, which, yet, in general, violates passivity of the(More)
—In this paper, we propose a novel framework, passive set-position modulation (PSPM), which enables us to connect a (continuous-time) robot's position to a sequence of slowly up-dating/sparse (discrete-time) set-position signal via the simple (yet frequently used in practice) spring coupling with damping injection , while enforcing passivity of the(More)
— We propose a novel haptic teleoperation control framework for multiple unmanned aerial vehicles (UAVs) over the Internet, consisting of the three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic virtual point (VP); 2) VP control layer, which modulates each VP's motion(More)
—This paper presents a passive bilateral feedforward control scheme for linear dynamically similar (LDS) teleoper-ated manipulators with kinematic scaling and power scaling. The proposed control law renders the teleoperator as a passive rigid mechanical tool with programmable apparent inertia to the human operator and the work environment by utilizing(More)
— We propose a control framework for the bilateral teleoperation between a single master robot and multiple cooperative slave robots with communication-delay in the master-slave communication channel. Using passive decomposition, we first decompose the dynamics of multiple slaves into two decoupled systems while preserving energetic passivity: the shape(More)