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A Systematic Review of Multilateral Teleoperation Systems.

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    This review explores multilateral teleoperation, a system with three or more agents for remote tasks. It classifies architectures and control strategies, highlighting challenges like communication delays impacting stability.

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    Area of Science:

    • Robotics and Control Systems
    • Human-Computer Interaction

    Background:

    • Bilateral Single-Master/Single-Slave (SM/SS) teleoperation is well-established.
    • Multilateral teleoperation, involving three or more agents, is an emerging research area.
    • Existing research lacks a comprehensive classification of multilateral systems.

    Purpose of the Study:

    • To provide a systematic overview of multilateral teleoperation systems.
    • To classify current architectures based on topology, applications, and stability analysis.
    • To review control strategies and identify challenges in multilateral teleoperation.

    Main Methods:

    • Literature review and synthesis of existing research on multilateral teleoperation.
    • Classification of architectures into categories based on network topology.
    • Analysis of control strategies and stability issues in different frameworks.

    Main Results:

    • A taxonomy of multilateral teleoperation architectures is presented.
    • Control strategies for various topologies and applications are discussed.
    • Key challenges, including communication delays and closed-loop instability, are identified.

    Conclusions:

    • Multilateral teleoperation offers advanced capabilities beyond traditional SM/SS systems.
    • Standardized classification and further research into robust control strategies are needed.
    • Addressing communication network challenges is crucial for reliable multilateral teleoperation.