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

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. © 2011 Cambridge University Press

Delayed Trilateral Teleoperation of a Mobile Robot

This paper analyzes the stability of a trilateral teleoperation system of a mobile robot. This type of system is nonlinear, time-varying, and delayed and includes a master-slave kinematic dissimilarity. To close the control loop, three P+d controllers are used under a position master/slave velocity strategy. The stability analysis is based on Lyapunov-Krasovskii theory where a functional is proposed and analyzed to get conditions for the control parameters that assure a stable behavior, keeping the synchronism errors bounded. Finally, the theoretical result is verified in practice by means of a simple test, where two human operators both collaboratively and simultaneously drive a 3D simulator of a mobile robot to achieve an established task on a remote shared environment