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dc.contributor.authorHernansanz Prats, Alberto
dc.contributor.authorCasals Gelpi, Alicia
dc.contributor.authorAmat Girbau, Josep
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor.otherInstitut de Bioenginyeria de Catalunya
dc.date.accessioned2015-09-21T11:08:16Z
dc.date.available2017-06-30T00:30:26Z
dc.date.created2015-06-01
dc.date.issued2015-06-01
dc.identifier.citationHernansanz, A., Casals, A., Amat, J. A multi-robot cooperation strategy for dexterous task oriented teleoperation. "Robotics and autonomous systems", 01 Juny 2015, p. 156-172.
dc.identifier.issn0921-8890
dc.identifier.urihttp://hdl.handle.net/2117/76988
dc.description.abstractThe use of multiple robots working cooperatively in a redundant way offers new possibilities in the execution of complex tasks in dynamic workspaces. The aim of this work is to increase the range of applicability of teleoperated systems by means of the automatic cooperation of multiple slave robots which, controlled by a human operator, act as if they were a unique robot: a Multi-Robot Cooperation Platform fer Task-Oriented Teleoperation, MRCP. From the human operator commands, this robotic platform, the MRCP, dynamically selects the most suitable slave robot and manages, when necessary, a task transfer from one robot to another in order to achieve a smooth execution of teleoperated tasks.; The result of the proposed methodology is an improved teleoperated system in terms of reachable workspace (volume, manoeuvrability and accessibility) and dexterity, thus widening its range of applicability. This approach allows human operators to focus their attention on the ongoing task more than on the teleoperated robots.
dc.format.extent17 p.
dc.language.isoeng
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots -- Control systems
dc.subject.otherMulti-robot cooperation
dc.subject.otherTask-oriented teleoperation
dc.subject.otherSingle-operator-multiple-robot
dc.titleA multi-robot cooperation strategy for dexterous task oriented teleoperation
dc.typeArticle
dc.subject.lemacRobots -- Sistemes de control
dc.contributor.groupUniversitat Politècnica de Catalunya. GRINS - Grup de Recerca en Robòtica Intel·ligent i Sistemes
dc.identifier.doi10.1016/j.robot.2014.12.007
dc.description.peerreviewedPeer Reviewed
dc.relation.publisherversionhttp://www.sciencedirect.com/science/article/pii/S0921889014003042
dc.rights.accessOpen Access
drac.iddocument15620509
dc.description.versionPostprint (author’s final draft)
upcommons.citation.authorHernansanz, A., Casals, A., Amat, J.
upcommons.citation.publishedtrue
upcommons.citation.publicationNameRobotics and autonomous systems
upcommons.citation.volume68
upcommons.citation.startingPage156
upcommons.citation.endingPage172


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