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A Systematic Review of Multilateral Teleoperation Systems
IEEE Transactions on Haptics
|July 12, 2018
Summary
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.
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.
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