Abstract
In this chapter we show and compare several representative examples of human-collaborative schemes in the control of mobile robots , with a particular emphasis on the aerial robot case. We first provide a simplified yet descriptive model of the robot and its interactions. We then use this model to define a taxonomy that highlights the main aspects of these collaboration schemes, such as the physical domain of the robots, the degree of autonomy , the force interaction with the operator (e.g., the unilateral versus the bilateral haptic shared control ), the near-operation versus the teleoperation, the contact-free versus the physically interactive situation, the use of onboard sensors, and the presence of a time horizon in the operator reference. We then specialize the proposed taxonomy to the multi-robot case in which we further distinguish the methods depending on their level of centralization, the presence of leader–follower schemes, of formation control schemes, the ability to preserve graph theoretical properties, and to perform cooperative physical interaction. The common denominator of all the examples presented in this chapter is the presence of a operator in the control loop. The main goal of the chapter is to introduce the reader and provide a first-level analysis on the several ways to effectively include human operators in the control of both single and multiple aerial robots and, by extension, of more generic mobile robots .
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
A taxonomy that is comprehensive of all the possible cases and shows all the most important works in collaborative human–robot control is clearly out of the scope of this chapter, which does not claim to be a complete survey of this huge topic.
References
Robuffo Giordano P, Franchi A, Secchi C, Bülthoff HH (2013) A passivity-based decentralized strategy for generalized connectivity maintenance. Int J Robot Res 32(3):299–323
Zelazo D, Franchi A, Bülthoff HH, Robuffo Giordano P (2014) Decentralized rigidity maintenance control with range measurements for multi-robot systems. Int J Robot Res 34(1):105–128
Fiedler M (1973) Algebraic connectivity of graphs. Czechoslov Math J 23(98):298–305
Mesbahi M, Egerstedt M (2010) Graph Theoretic methods in multiagent networks, 1st edn. Princeton series in applied mathematics. Princeton University Press, Princeton
Franchi A, Secchi C, Ryll M, Bülthoff HH, Robuffo Giordano P (2012) Shared control: Balancing autonomy and human assistance with a group of quadrotor UAVs,. IEEE Robot Autom Mag Special Issue Aerial Robot Quadrotor Platf 19(3):57–68
Niemeyer G, Preusche C, Hirzinger G (2008) Telerobotics. In: Siciliano B, Khatib O (eds)Springer handbook of robotics. Springer, Berlin, pp. 741–757
Schill F, Hou X, Mahony R (2010) Admittance mode framework for haptic teleoperation of hovering vehicles with unlimited workspace. In: 2010 Australasian conference on robotics and automation, Brisbane, Australia
Mersha AY, Stramigioli S, Carloni R (2012) Switching-based mapping and control for haptic teleoperation of aerial robots. In: 2012 IEEE/RSJ international conference on intelligent robots and systems, Vilamoura, Portugal, pp 2629–2634
Stegagno P, Basile M, Bülthoff HH, Franchi A (2014) A semi-autonomous UAV platform for indoor remote operation with visual and haptic feedback. In 2014 IEEE international conference on robotics and automation, Hong Kong, China, pp 3862–3869
Masone C, Robuffo Giordano P, Bülthoff HH, Franchi A (2014) Semi-autonomous trajectory generation for mobile robots with integral haptic shared control. In: 2014 IEEE international conference on robotics and automation, Hong Kong, China, pp 6468–6475
Diolaiti N, Melchiorri C (2002) Teleoperation of a mobile robot through haptic feedback. In: IEEE international workshop on haptic virtual environments and their applications, Ottawa, Canada, pp 62–72
Lee D, Martinez-Palafox O, Spong MW (2005) Bilateral teleoperation of multiple cooperative robots over delayed communication network: application. In: 2005 IEEE international conference on robotics and automation, Barcelona, Spain, pp 366–371
Stramigioli S, Mahony R, Corke P (2010) A novel approach to haptic tele-operation of aerial robot vehicles. In: 2010 IEEE international conference on robotics and automation, Anchorage, AK, pp 5302–5308
Rodríguez-Seda EJ, Troy JJ, Erignac CA, Murray P, Stipanović DM, Spong MW (2010) Bilateral teleoperation of multiple mobile agents: coordinated motion and collision avoidance. IEEE Trans Control Syst Technol 18(4):984–992
Franchi A, Robuffo Giordano P, Secchi C, Son HI, Bülthoff HH (2011) A passivity-based decentralized approach for the bilateral teleoperation of a group of UAVs with switching topology. In: 2011 IEEE international conference on robotics and automation, Shanghai, China, pp 898–905
Lee D, Franchi A, Robuffo Giordano P, Son HI, Bülthoff HH (2011) Haptic teleoperation of multiple unmanned aerial vehicles over the internet. In: 2011 IEEE international conference on robotics and automation, Shanghai, China, pp 1341–1347
Hou X, Mahony R (2013) Dynamic kinesthetic boundary for haptic teleoperation of aerial robotic vehicles. In: 2013 IEEE/RSJ international conference on intelligent robots and systems, Tokyo, Japan, pp 4549–4950
Farkhatdinov I, Ryu JH (2010) Improving mobile robot bilateral teleoperation by introducing variable force feedback gain. In: 2010 IEEE/RSJ international conference on intelligent robots and systems, Taipei, Taiwan, pp 5812–5817
Hou X, Mahony RE, Schill F (2016) Comparative study of haptic interfaces for bilateral teleoperation of VTOL aerial robot. IEEE Trans Syst Man Cybern: Syst. http://arxiv.org/abs/1305.5719
Son HI, Franchi A, Chuang LL, Kim J, Bülthoff HH, Robuffo Giordano P (2013) Human-centered design and evaluation of haptic cueing for teleoperation of multiple mobile robots. IEEE Trans Syst Man Cybern. Part B. Cybernetics 43(2):597–609
Riedel M, Franchi A, Bülthoff HH, Robuffo Giordano P, Son HI (2012) Experiments on intercontinental haptic control of multiple UAVs. In: 12th international conference on intelligent autonomous systems, Jeju Island, Korea, pp 227–238
Hannaford B, Ryu J-H (2002) Time-domain passivity control of haptic interfaces. IEEE Trans Robot Autom 18(1):1–10
Lee DJ, Huang K (2010) Passive-set-position-modulation framework for interactive robotic systems. IEEE Trans Robot 26(2):354–369
Franken M, Stramigioli S, Misra S, Secchi C, Macchelli A (2011) Bilateral telemanipulation with time delays: a two-layer approach combining passivity and transparency. IEEE Trans Robot 27(4):741–756
Mersha AY, Hou X, Mahony R, Stramigioli S, Corke P, Carloni R (2013) Intercontinental haptic teleoperation of a flying vehicle: a step towards real-time applications. In: 2013 IEEE/RSJ international conference on intelligent robots and systems, Tokyo, Japan, pp 4951–4957
Secchi C, Franchi A, Bülthoff HH, Robuffo Giordano P (2012) Bilateral teleoperation of a group of UAVs with communication delays and switching topology. In: 2012 IEEE international conference on robotics and automation, St. Paul, MN, pp 4307–4314
Lee D, Spong MW (2005) Bilateral teleoperation of multiple cooperative robots over delayed communication network: theory. In: 2005 IEEE international conference on robotics and automation, Barcelona, Spain, pp 360–365
Gioioso G, Mohammadi M, Franchi A, Prattichizzo D (2015) A force-based bilateral teleoperation framework for aerial robots in contact with the environment. In: 2015 IEEE international conference on robotics and automation, Seattle, WA, pp 318–324
Gioioso G, Ryll M, Prattichizzo D, Bülthoff HH, Franchi A (2014) Turning a near-hovering controlled quadrotor into a 3D force effector. In: 2014 IEEE international conference on robotics and automation, Hong Kong, China, pp 6278–6284
Franchi A, Secchi C, Son HI, Bülthoff HH, Robuffo Giordano P (2012) Bilateral teleoperation of groups of mobile robots with time-varying topology. IEEE Trans Robot 28(5):1019–1033
Lee DJ, Franchi A, Son HI, Bülthoff HH, Robuffo Giordano P (2013) Semi-autonomous haptic teleoperation control architecture of multiple unmanned aerial vehicles. IEEE/ASME Trans Mechatron Focus Sect Aerospace. Mechatronics 18(4):1334–1345
Grabe V, Riedel M, Bülthoff HH, Robuffo Giordano P, Franchi A (2013) The TeleKyb framework for a modular and extendible ROS-based quadrotor control. In: 6th European Conference on Mobile Robots, Barcelona, Spain, pp 19–25
Omari S, Hua MD, Ducard GJJ, Hamel T (2013) Bilateral haptic teleoperation of VTOL UAVs. In: 2013 IEEE international conference on robotics and automation, Karlsruhe, Germany, pp 2385–2391
Franchi A, Masone C, Grabe V, Ryll M, Bülthoff HH, Robuffo Giordano P (2012) Modeling and control of UAV bearing-formations with bilateral high-level steering. Int J Robot Res Special Issue 3D Explor Mapp Surveill 31(12):1504–1525
Franchi A, Robuffo Giordano P (2016) Online leader selection for improved collective tracking and formation maintenance. IEEE Trans Control Netw Syst. http://dx.doi.org/10.1109/TCNS.2016.2567222
Franchi A, Bülthoff HH, Robuffo Giordano P (2011) Distributed online leader selection in the bilateral teleoperation of multiple UAVs. In: 50th IEEE Conference on Decision and Control, Orlando, FL, pp 3559–3565
Nestmeyer T, Robuffo Giordano P, Bülthoff HH, Franchi A (2016) Decentralized simultaneous multi-target exploration using a connected network of multiple robots. Auton Robot. http://dx.doi.org/10.1007/s10514-016-9578-9
Secchi C, Franchi A, Bülthoff HH, Robuffo Giordano P (2013) Bilateral control of the degree of connectivity in multiple mobile-robot teleoperation. In: IEEE international conference on robotics and automation, Karlsruhe, Germany, May 2013
Gioioso G, Franchi A, Salvietti G, Scheggi S, Prattichizzo D (2014) The flying hand: a formation of uavs for cooperative aerial tele-manipulation. In: 2014 IEEE international conference on robotics and automation, Hong Kong, China, pp 4335–4341
Mohammadi M, Franchi A, Barcelli D, Prattichizzo D (2016) Cooperative aerial tele-manipulation with haptic feedback. In: 2016 IEEE/RSJ international conference on intelligent robots and systems, Daejeon, South Korea
Nguyen H-N, Park S, Lee DJ (2015) Aerial tool operation system using quadrotors as rotating thrust generators. In: 2015 IEEE/RSJ international conference on intelligent robots and systems, Hamburg, Germany
Acknowledgements
The author desires to thank all the collaborators that co-authored with him the works cited in this chapter. A special acknowledgement goes to Paolo Robuffo Giordano, with whom many of the algorithms and ideas that are present in those cited works have been conceived and developed.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Franchi, A. (2017). Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots . In: Wang, Y., Zhang, F. (eds) Trends in Control and Decision-Making for Human–Robot Collaboration Systems. Springer, Cham. https://doi.org/10.1007/978-3-319-40533-9_13
Download citation
DOI: https://doi.org/10.1007/978-3-319-40533-9_13
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-40532-2
Online ISBN: 978-3-319-40533-9
eBook Packages: EngineeringEngineering (R0)