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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 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)
Abstnact-In this paper, a teleoperation controller Is proposed for a-pair of nonlinear master and slave manip ulators. The control law enables the nonlinear robots to be perfectly coordinated despite arbitrary environment and human forcings, while ensuring that the closed loop teleop erator system is passive with respect to a supply rate that includes a(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)
—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)
— 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)