Controlling a group of robots to perform a task in unison is not always straight forward. Researchers at the Department of Mechanical and Aerospace Engineering, Seoul National University, are exploring teleoperation of a platoon of wheeled mobile robots, equipped with onboard sensing/computing and p2p communication. Here is how they explain it:
We first utilize passive nonholonomic decomposition to split the platoon kinematics into formation-keeping and collective tele-driving, and design autonomous formation and teleoperation control fully incorporating nonholonomic constraint and distribution requirement. To address the estimation uncertainty and behavior complexity inherent to a large-scale platoon of distributed robots, we propose novel predictive display, which provides the user with the predicted future course of platoon motion with uncertainty
[HT]