A Systematic Review of Multilateral Teleoperation Systems

Mahya Shahbazi, Seyed Farokh Atashzar, Rajni V. Patel

Research output: Contribution to journalReview articlepeer-review


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.

Original languageEnglish (US)
Article number8322220
Pages (from-to)338-356
Number of pages19
JournalIEEE Transactions on Haptics
Issue number3
StatePublished - Jul 1 2018


  • Cooperative teleoperation
  • multi-master/multi-slave telerobotics
  • multilateral telerobotics
  • trilateral teleoperation

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Computer Science Applications


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