Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning

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dc.identifier.uri http://dx.doi.org/10.15488/2361
dc.identifier.uri http://www.repo.uni-hannover.de/handle/123456789/2387
dc.contributor.author Nieto, J.
dc.contributor.author Slawiñski, E.
dc.contributor.author Mut, V.
dc.contributor.author Wagner, B.
dc.date.accessioned 2017-11-17T12:26:20Z
dc.date.available 2017-11-17T12:26:20Z
dc.date.issued 2012
dc.identifier.citation Nieto, J.; Slawiñski, E.; Mut, V.; Wagner, B.: Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning. In: Robotica 30 (2012), Nr. 3, S. 351-361. DOI: https://doi.org/10.1017/S0263574711000695
dc.description.abstract This work proposes a teleoperation architecture for mobile robots in partially unknown environments under the presence of variable time delay. The system is provided with artificial intelligence represented by a probabilistic path planner that, in combination with a prediction module, assists the operator while guaranteeing a collision-free motion. For this purpose, a certain level of autonomy is given to the system. The structure was tested in indoor environments for different kinds of operators. A maximum time delay of 2s was successfully coped with. © 2011 Cambridge University Press. eng
dc.language.iso eng
dc.publisher Cambridge : Cambridge University Press
dc.relation.ispartofseries Robotica 30 (2012), Nr. 3
dc.rights Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. Dieser Beitrag ist aufgrund einer (DFG-geförderten) Allianz- bzw. Nationallizenz frei zugänglich.
dc.subject Human operator eng
dc.subject Mobile robots eng
dc.subject Path planning eng
dc.subject Supervisory control eng
dc.subject Time-delayed teleoperation eng
dc.subject Human operator eng
dc.subject Indoor environment eng
dc.subject Path planners eng
dc.subject Robot teleoperation eng
dc.subject Sampling-based eng
dc.subject Supervisory control eng
dc.subject Time-delayed teleoperation eng
dc.subject Variable time delay eng
dc.subject Artificial intelligence eng
dc.subject Degrees of freedom (mechanics) eng
dc.subject Mobile robots eng
dc.subject Remote control eng
dc.subject Time delay eng
dc.subject Motion planning eng
dc.subject.ddc 620 | Ingenieurwissenschaften und Maschinenbau ger
dc.subject.ddc 004 | Informatik ger
dc.title Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning
dc.type article
dc.type Text
dc.relation.issn 0263-5747
dc.relation.doi https://doi.org/10.1017/S0263574711000695
dc.bibliographicCitation.issue 3
dc.bibliographicCitation.volume 30
dc.bibliographicCitation.firstPage 351
dc.bibliographicCitation.lastPage 361
dc.description.version publishedVersion
tib.accessRights frei zug�nglich


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