TY - JOUR
T1 - A Systematic Review of Multilateral Teleoperation Systems
AU - Shahbazi, Mahya
AU - Atashzar, Seyed Farokh
AU - Patel, Rajni V.
N1 - Funding Information:
This research was supported by the Canadian Institutes of Health Research (CIHR) and the Natural Sciences and Engineering Research Council (NSERC) of Canada under the Collaborative Health Research Projects (CHRP) Grant #316170; the AGE-WELL Network of Centres of Excellence under the project AW CRP 2015-WP5.3, and the NSERC Discovery Grant #RGPIN1345.
Publisher Copyright:
© 2008-2011 IEEE.
PY - 2018/7/1
Y1 - 2018/7/1
N2 - While conventional bilateral Single-Master/Single-Slave (SM/SS) teleoperation systems have received considerable attention during the past several decades, multilateral teleoperation is only recently being studied. Unlike an SM/SS system, which consists of one master-slave set, multilateral teleoperation frameworks involve a minimum of three agents in order to remotely perform a task. This paper presents an overview of multilateral teleoperation systems and classifies the existing state-of-the-art architectures based on topologies, applications, and closed-loop stability analysis. For each category, the review discusses control strategies used for various architectures as well as control challenges (e.g., closed-loop instability as a result of a delay in the communication network) for each methodology.
AB - While conventional bilateral Single-Master/Single-Slave (SM/SS) teleoperation systems have received considerable attention during the past several decades, multilateral teleoperation is only recently being studied. Unlike an SM/SS system, which consists of one master-slave set, multilateral teleoperation frameworks involve a minimum of three agents in order to remotely perform a task. This paper presents an overview of multilateral teleoperation systems and classifies the existing state-of-the-art architectures based on topologies, applications, and closed-loop stability analysis. For each category, the review discusses control strategies used for various architectures as well as control challenges (e.g., closed-loop instability as a result of a delay in the communication network) for each methodology.
KW - Cooperative teleoperation
KW - multi-master/multi-slave telerobotics
KW - multilateral telerobotics
KW - trilateral teleoperation
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U2 - 10.1109/TOH.2018.2818134
DO - 10.1109/TOH.2018.2818134
M3 - Review article
AN - SCOPUS:85044273820
SN - 1939-1412
VL - 11
SP - 338
EP - 356
JO - IEEE Transactions on Haptics
JF - IEEE Transactions on Haptics
IS - 3
M1 - 8322220
ER -