Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots
In this chapter we show and compare several representative examples of human-collaborative schemes in the control of mobile robots , with a particular emphasis on the aerial robot case. We first provide a simplified yet descriptive model of the robot and
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Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots Antonio Franchi
13.1 Introduction A mobile robot is primarily a machine that is able to perceive the surrounding environment and move in it in a safe and effective way for the humans, for itself, and for the given objective. The ability to automatically control its own motion, at both the higher level (guidance, planning) and the lower one (navigation and servoing), constitutes one of the fundamental building blocks of the sought robot autonomy. However, robots, which in general do not exist and operate isolated from humans, can actually improve their effectiveness in achieving the given task by means of a welldesigned human-collaborative control schemes. Analyzing and properly designing the way to achieve an optimal human collaboration is therefore a crucial aspect in order to attain a fully mature robotic system that is able to operate in a complex and real world. In this chapter we show and compare several ways to effectively design the collaborative control. We do so by first introducing a simple yet descriptive model for the robots and the human interfaces. We then propose a list of what we consider fundamental axes for a proper classification of the collaborative scheme, namely the • physical domain of the robots, e.g., whether they are operating and moving on the ground or in the air; • degree of autonomy from the human operator, i.e., at which level and with which frequency the human operator is involved in influencing the robot motion, in particular, in this chapter we mainly focus on the so-called ‘shared control’ case. Within this case we further specialize our taxonomy depending on the presence of a time horizon in the reference that is sent by the operator to the robots. A. Franchi (B) CNRS, LAAS, 7 Avenue du Colonel Roche, 31400 Toulouse, France e-mail: [email protected] A. Franchi Univ de Toulouse, LAAS, 31400 Toulouse, France © Springer International Publishing Switzerland 2017 Y. Wang and F. Zhang (eds.), Trends in Control and Decision-Making for Human–Robot Collaboration Systems, DOI 10.1007/978-3-319-40533-9_13
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• kind force interaction with the operator, i.e., whether the collaboration involves or not mechanical interaction and haptics and in which direction (forward-force, feedback-force (bilateral), unilateral); • near-operation versus the teleoperation; • amount of physical interaction with the environment; • use of onboard sensors; The proposed taxonomy is then further specialized in the case of the use of multiple robots, for which we introduce additional axes, namely • • • • •
level of centralization; use of a scheme of the kind master–leader–followers; use of a scheme of the kind formation-orthogonal; use of a scheme of the kind global property preservation; ability to perform cooperative physical maneuvers.
The common denominator of all the axes presented in this chapter is the presence of a human operator in the control loop. In fact, fully autonomous control algorithms
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