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research
Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning
Authors
V. Mut
J. Nieto
E. Slawiñski
B. Wagner
Publication date
1 January 2012
Publisher
Cambridge : Cambridge University Press
Doi
Cite
Abstract
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
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Institutionelles Repositorium der Leibniz Universität Hannover
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oai:www.repo.uni-hannover.de:1...
Last time updated on 02/12/2017
CONICET Digital
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oai:ri.conicet.gov.ar:11336/19...
Last time updated on 22/07/2023