Erick J. Rodríguez-Seda

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This paper presents theoretical and experimental results on bilateral teleoperation of multiple mobile slave agents coupled to a single master robot. We first design a passifying proportional-derivative (PD) controller to enforce motion tracking and formation control of master and slave vehicles under constant, bounded communication delays. Then, we(More)
A detailed experimental comparison study of several published algorithms for motion and force control of bilateral teleoperators, with emphasis on Internet-based teleoperation, is presented. The study investigates the effects of data losses, communication delays, and environmental constraints on a teleoperation system for different control techniques, which(More)
Among the still existing issues in bilateral teleoperation, there is the inability by force-feedback control schemes to guarantee delay-independent stability and achieve both position coordination and force reflection independently of the remote environmental dynamics. Particularly, most bilateral control frameworks fail to address position coordination(More)
Nowadays, autonomously operated nonholonomic vehicles are employed in a wide range of applications, ranging from relatively simple household chores (e.g., carpet vacuuming and lawn mowing) to highly sophisticated assignments (e.g., outer space exploration and combat missions). Each application may require different levels of accuracy and capabilities from(More)
Sensing and localization mechanisms, employed by mobile robots for the detection of obstacles and other nearby agents, may inaccurately estimate the position of obstacles due to noise, delays, and interferences incurred during the detection process. Therefore, it is critical to design collision avoidance strategies that are robust to the presence of(More)
This paper presents a detailed experimental comparison of several published algorithms for motion and force control of bilateral internet teleoperators. Different control techniques based on wave variables, smith predictors, and recent algorithms on synchronization are compared under variable time delays, packet losses and environmental disturbances. The(More)
A set of cooperative and noncooperative collision avoidance strategies for a pair of interacting agents with acceleration constraints, bounded sensing uncertainties, and limited sensing ranges is presented. We explicitly consider the case in which position information from the other agent is unreliable, and develop bounded control inputs using(More)
The implementation of collision detection mechanisms on-board of unmanned vehicles typically relies on digital platforms and shared communication networks. The discrete nature of these technologies does not only limit the frequency at which nearby obstacles and other vehicles are detected, but it also raises the demand for a better allocation of the(More)
In this paper we present decentralized, reactive, cooperative collision avoidance strategies for a group of nonlinear Lagrangian vehicles with limited actuation and bounded sensing range. The avoidance control strategies, which are continuous, build on the concept of avoidance functions and are synthesized with a time-varying set-point control law that(More)