Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning

Autores
Nieto, Jorge; Slawiñski, Emanuel; Mut, Vicente Antonio; Wagner, Bernardo
Año de publicación
2012
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This work proposes a teleoperation architecture for mobile robots in partially unknown environments under the presence of variable time delay. The system is provided with artificial intelligence represented by a probabilistic path planner that, in combination with a prediction module, assists the operator while guaranteeing a collision-free motion. For this purpose, a certain level of autonomy is given to the system. The structure was tested in indoor environments for different kinds of operators. A maximum time delay of 2s was successfully coped with.
Fil: Nieto, Jorge. Leibniz Universitat Hannover; Alemania. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Wagner, Bernardo. Leibniz Universitat Hannover; Alemania
Materia
HUMAN OPERATOR
MOBILE ROBOTS
PATH PLANNING
SUPERVISORY CONTROL
TIME-DELAYED TELEOPERATION
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/194947
Acceder
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network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planningNieto, JorgeSlawiñski, EmanuelMut, Vicente AntonioWagner, BernardoHUMAN OPERATORMOBILE ROBOTSPATH PLANNINGSUPERVISORY CONTROLTIME-DELAYED TELEOPERATIONhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This work proposes a teleoperation architecture for mobile robots in partially unknown environments under the presence of variable time delay. The system is provided with artificial intelligence represented by a probabilistic path planner that, in combination with a prediction module, assists the operator while guaranteeing a collision-free motion. For this purpose, a certain level of autonomy is given to the system. The structure was tested in indoor environments for different kinds of operators. A maximum time delay of 2s was successfully coped with.Fil: Nieto, Jorge. Leibniz Universitat Hannover; Alemania. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Wagner, Bernardo. Leibniz Universitat Hannover; AlemaniaCambridge University Press2012-05info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/194947Nieto, Jorge; Slawiñski, Emanuel; Mut, Vicente Antonio; Wagner, Bernardo; Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning; Cambridge University Press; Robotica; 30; 3; 5-2012; 351-3610263-57471984-0063CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/http://journals.cambridge.org/action/displayAbstract?fromPage=online&aid=8528100info:eu-repo/semantics/altIdentifier/doi/10.1017/S0263574711000695info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-11-05T10:28:21Zoai:ri.conicet.gov.ar:11336/194947instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-11-05 10:28:21.628CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning
title Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning
spellingShingle Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning
Nieto, Jorge
HUMAN OPERATOR
MOBILE ROBOTS
PATH PLANNING
SUPERVISORY CONTROL
TIME-DELAYED TELEOPERATION
title_short Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning
title_full Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning
title_fullStr Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning
title_full_unstemmed Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning
title_sort Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning
dc.creator.none.fl_str_mv Nieto, Jorge
Slawiñski, Emanuel
Mut, Vicente Antonio
Wagner, Bernardo
author Nieto, Jorge
author_facet Nieto, Jorge
Slawiñski, Emanuel
Mut, Vicente Antonio
Wagner, Bernardo
author_role author
author2 Slawiñski, Emanuel
Mut, Vicente Antonio
Wagner, Bernardo
author2_role author
author
author
dc.subject.none.fl_str_mv HUMAN OPERATOR
MOBILE ROBOTS
PATH PLANNING
SUPERVISORY CONTROL
TIME-DELAYED TELEOPERATION
topic HUMAN OPERATOR
MOBILE ROBOTS
PATH PLANNING
SUPERVISORY CONTROL
TIME-DELAYED TELEOPERATION
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This work proposes a teleoperation architecture for mobile robots in partially unknown environments under the presence of variable time delay. The system is provided with artificial intelligence represented by a probabilistic path planner that, in combination with a prediction module, assists the operator while guaranteeing a collision-free motion. For this purpose, a certain level of autonomy is given to the system. The structure was tested in indoor environments for different kinds of operators. A maximum time delay of 2s was successfully coped with.
Fil: Nieto, Jorge. Leibniz Universitat Hannover; Alemania. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Wagner, Bernardo. Leibniz Universitat Hannover; Alemania
description This work proposes a teleoperation architecture for mobile robots in partially unknown environments under the presence of variable time delay. The system is provided with artificial intelligence represented by a probabilistic path planner that, in combination with a prediction module, assists the operator while guaranteeing a collision-free motion. For this purpose, a certain level of autonomy is given to the system. The structure was tested in indoor environments for different kinds of operators. A maximum time delay of 2s was successfully coped with.
publishDate 2012
dc.date.none.fl_str_mv 2012-05
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/194947
Nieto, Jorge; Slawiñski, Emanuel; Mut, Vicente Antonio; Wagner, Bernardo; Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning; Cambridge University Press; Robotica; 30; 3; 5-2012; 351-361
0263-5747
1984-0063
CONICET Digital
CONICET
url http://hdl.handle.net/11336/194947
identifier_str_mv Nieto, Jorge; Slawiñski, Emanuel; Mut, Vicente Antonio; Wagner, Bernardo; Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning; Cambridge University Press; Robotica; 30; 3; 5-2012; 351-361
0263-5747
1984-0063
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://journals.cambridge.org/action/displayAbstract?fromPage=online&aid=8528100
info:eu-repo/semantics/altIdentifier/doi/10.1017/S0263574711000695
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Cambridge University Press
publisher.none.fl_str_mv Cambridge University Press
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.084122

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