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
- Institución
- Consejo Nacional de Investigaciones Científicas y Técnicas
- OAI Identificador
- oai:ri.conicet.gov.ar:11336/194947
Ver los metadatos del registro completo
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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 Técnicas2025-10-15T15:20:52Zoai: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:34982025-10-15 15:20:52.562CONICET 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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1846083357207691264 |
score |
13.22299 |