Distributed Winner-Take-All Teleoperation of a Multi-Robot System

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dc.contributor.authorYang, Yuan
dc.contributor.authorConstantinescu, Daniela
dc.contributor.authorShi, Yang
dc.date.accessioned2019-09-13T21:39:02Z
dc.date.available2019-09-13T21:39:02Z
dc.date.copyright2019en_US
dc.date.issued2019-09-13
dc.description.abstractIn a distributed multi-master-multi-slave teleoperation system, the human users may compete against each other for the control of the team of slave robots. To win the competition, one operator would send the largest command to the slave group. For the sake of team cohesion, the slave group should follow the command of the winning operator and ignore the commands of the other users. To enable (i) the slave team to identify the winning operator, and (ii) each slave to determine whether to admit or discard the command it receives from its operator,this paper proposes a dynamic decision-making protocol that distinguishes the decision variable of the slave commanded by the winner from the decision variables of all other slave robots.The protocol only requires the slaves to exchange and evaluate their decision variables locally. Lyapunov stability analysis proves the theoretical convergence of the proposed decision-making algorithm. An experimental distributed winner-take-all teleoperation in a 3-masters-11-slaves teleoperation testbed validates its practical efficacy.en_US
dc.description.reviewstatusUnrevieweden_US
dc.description.scholarlevelFacultyen_US
dc.description.sponsorshipChina Scholarship Council Natural Science and Engineering Research Councilen_US
dc.identifier.urihttp://hdl.handle.net/1828/11148
dc.language.isoenen_US
dc.subjectTeleoperation, distributed control, winner-take-all control, multi-master-multi-slave teleoperation
dc.subject.departmentDepartment of Mechanical Engineering
dc.titleDistributed Winner-Take-All Teleoperation of a Multi-Robot Systemen_US
dc.typePreprinten_US

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