6 papers
Connectivity-Preserving Swarm Teleoperation Over A Tree Network With Time-Varying Delays
Yuan Yang, Yang Shi, Daniela Constantinescu
A teleoperated swarm must follow the unpredictable commands of its human operator while remaining connected. When the swarm communications are limited by distance and affected by d…
Dynamic Interconnection and Damping Injection for Input-to-State Stable Bilateral Teleoperation
Yuan Yang, Daniela Constantinescu, Yang Shi
In bilateral teleoperation, the human who operates the master and the environment which interacts with the slave are part of the force feedback loop. Yet, both have time-varying an…
Connectivity-Preserving Swarm Teleoperation With A Tree Network
Yuan Yang, Daniela Constantinescu, Yang Shi
During swarm teleoperation, the human operator may threaten the distance-dependent inter-robot communications and, with them, the connectivity of the slave swarm. To prevent the ha…
Bounded Connectivity-Preserving Coordination of Networked Euler-Lagrange Systems
Yuan Yang, Daniela Constantinescu, Yang Shi
This paper derives sufficient conditions for bounded distributed connectivity-preserving coordination of Euler-Lagrange systems with only position measurements and with system unce…
Connectivity-Preserving Consensus of Multi-Agent Systems with Bounded Actuation
Yuan Yang, Daniela Constantinescu, Yang Shi
This paper investigates the impact of bounded actuation on the connectivity-preserving consensus of two classes of multi-agent systems, with kinematic agents and with Euler- Lagran…
Connectivity-Preserving Coordination Control of Multi-Agent Systems with Time-Varying Delays
Yuan Yang, Yang Shi, Daniela Constantinescu
This paper presents a distributed position synchronization strategy that also preserves the initial communication links for single-integrator multi-agent systems with time-varying…