We applied partial feedback linearization to the unicycle model to stabilize part of the state at a desired position on the plane and extend it to design formation control for teleoperation. Further, using output synchronization results we derive a Single Master Multiple Slave bilateral teleoperation system robust to constant unknown, possible different time delays between master and formation and among mobile robots and formation. We show our simulation's results to illustrate the performance of the derived control law.

We consider bilateral teleoperation of a wheeled mobile robot over communication channels with constant delays. Our main objective is to enable humans to control the mobile robot much as they drive a car: i.e. by operating a master haptic joystick, they can control the linear velocity and heading angle of the mobile robot, much like they do so with the gas pedal and steering wheel. Passivity of the closed-loop system is also enforced so that, even with communication delays, humans can stably and safely teleoperate the wheeled mobile robot with force-reflection. A semi-experiment (i.e. real master/simulated slave) is performed to validate the proposed framework

In a previous paper we proposed a bilateral teleoperation framework of a wheeled mobile robot over communication channel with constant time delay. In this paper we present experimental results. Our goal is to illustrate and validate the properties of the proposed scheme as well as to present practical implementation issues and the adopted solutions. In particular, the bilaterally teleoperated system is passive and the system is stable in the presence of time delay. Internet has been used as the communication channel and a buffer has been implemented to maintain a constant time delay and to handle packet order

In a companion paper [1], we propose a control framework for the bilateral teleoperation between a single master robot and multiple cooperative slave robots over delayed communication network. In this paper, we perform simulation and semi-experiment (i.e. real master and simulated slaves) to illustrate and validate properties of the proposed control scheme. In particular, the three key properties of the proposed control framework are highlighted in this paper: 1) cooperative fixtureless grasping and manipulation of inertial and deformable objects by multiple slave robots; 2) passive teleoperation of the overall behavior of the multiple slave robots (and the grasped object) over the delayed communication with force reflection; and 3) grasping safety (i.e. secure grasping) and interaction stability regardless of the communication delay and human command.