Control scheme including prediction and augmented reality for teleoperation of mobile robots

Autores
Slawiñski, Emanuel; Mut, Vicente Antonio
Año de publicación
2010
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This paper proposes a control scheme for the teleoperation of a mobile robot in presence of time delay. Our proposal uses a compensation of the time delay based on a human operator's model and a simple 3D augmented reality scheme; both are related through a prediction system. Unlike other strategies, the proposed scheme has a model of the human operator inside it, including his decision so that human and robot push in the same direction. The stability of the teleoperation system adding the proposed control scheme is proven concluding how the time delay changes the convergence rate and the convergence ball size. Finally, to illustrate the performance and stability of the proposed control structure, several teleoperation experiments in presence of various delays are shown.
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
Materia
Augmented Reality
Mobile Robots
Prediction
Teleoperation
Time Delay
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:11336/53720
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Control scheme including prediction and augmented reality for teleoperation of mobile robotsSlawiñski, EmanuelMut, Vicente AntonioAugmented RealityMobile RobotsPredictionTeleoperationTime Delayhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This paper proposes a control scheme for the teleoperation of a mobile robot in presence of time delay. Our proposal uses a compensation of the time delay based on a human operator's model and a simple 3D augmented reality scheme; both are related through a prediction system. Unlike other strategies, the proposed scheme has a model of the human operator inside it, including his decision so that human and robot push in the same direction. The stability of the teleoperation system adding the proposed control scheme is proven concluding how the time delay changes the convergence rate and the convergence ball size. Finally, to illustrate the performance and stability of the proposed control structure, several teleoperation experiments in presence of various delays are shown.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; 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; ArgentinaCambridge University Press2010-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/53720Slawiñski, Emanuel; Mut, Vicente Antonio; Control scheme including prediction and augmented reality for teleoperation of mobile robots; Cambridge University Press; Robotica; 28; 1; 1-2010; 11-220263-5747CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.cambridge.org/core/journals/robotica/article/control-scheme-including-prediction-and-augmented-reality-for-teleoperation-of-mobile-robots/D633790E22B9952E3A07CAAAC9D54290info:eu-repo/semantics/altIdentifier/doi/10.1017/S0263574709005517info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T10:39:43Zoai:ri.conicet.gov.ar:11336/53720instacron: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:34982025-09-29 10:39:43.774CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Control scheme including prediction and augmented reality for teleoperation of mobile robots
title Control scheme including prediction and augmented reality for teleoperation of mobile robots
spellingShingle Control scheme including prediction and augmented reality for teleoperation of mobile robots
Slawiñski, Emanuel
Augmented Reality
Mobile Robots
Prediction
Teleoperation
Time Delay
title_short Control scheme including prediction and augmented reality for teleoperation of mobile robots
title_full Control scheme including prediction and augmented reality for teleoperation of mobile robots
title_fullStr Control scheme including prediction and augmented reality for teleoperation of mobile robots
title_full_unstemmed Control scheme including prediction and augmented reality for teleoperation of mobile robots
title_sort Control scheme including prediction and augmented reality for teleoperation of mobile robots
dc.creator.none.fl_str_mv Slawiñski, Emanuel
Mut, Vicente Antonio
author Slawiñski, Emanuel
author_facet Slawiñski, Emanuel
Mut, Vicente Antonio
author_role author
author2 Mut, Vicente Antonio
author2_role author
dc.subject.none.fl_str_mv Augmented Reality
Mobile Robots
Prediction
Teleoperation
Time Delay
topic Augmented Reality
Mobile Robots
Prediction
Teleoperation
Time Delay
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 paper proposes a control scheme for the teleoperation of a mobile robot in presence of time delay. Our proposal uses a compensation of the time delay based on a human operator's model and a simple 3D augmented reality scheme; both are related through a prediction system. Unlike other strategies, the proposed scheme has a model of the human operator inside it, including his decision so that human and robot push in the same direction. The stability of the teleoperation system adding the proposed control scheme is proven concluding how the time delay changes the convergence rate and the convergence ball size. Finally, to illustrate the performance and stability of the proposed control structure, several teleoperation experiments in presence of various delays are shown.
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
description This paper proposes a control scheme for the teleoperation of a mobile robot in presence of time delay. Our proposal uses a compensation of the time delay based on a human operator's model and a simple 3D augmented reality scheme; both are related through a prediction system. Unlike other strategies, the proposed scheme has a model of the human operator inside it, including his decision so that human and robot push in the same direction. The stability of the teleoperation system adding the proposed control scheme is proven concluding how the time delay changes the convergence rate and the convergence ball size. Finally, to illustrate the performance and stability of the proposed control structure, several teleoperation experiments in presence of various delays are shown.
publishDate 2010
dc.date.none.fl_str_mv 2010-01
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/11336/53720
Slawiñski, Emanuel; Mut, Vicente Antonio; Control scheme including prediction and augmented reality for teleoperation of mobile robots; Cambridge University Press; Robotica; 28; 1; 1-2010; 11-22
0263-5747
CONICET Digital
CONICET
url http://hdl.handle.net/11336/53720
identifier_str_mv Slawiñski, Emanuel; Mut, Vicente Antonio; Control scheme including prediction and augmented reality for teleoperation of mobile robots; Cambridge University Press; Robotica; 28; 1; 1-2010; 11-22
0263-5747
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://www.cambridge.org/core/journals/robotica/article/control-scheme-including-prediction-and-augmented-reality-for-teleoperation-of-mobile-robots/D633790E22B9952E3A07CAAAC9D54290
info:eu-repo/semantics/altIdentifier/doi/10.1017/S0263574709005517
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
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 13.070432

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