A passivity-based approach to human-swarm collaboration and passivity analysis of human operators

DOI10.1007/978-3-319-40533-9_14MaRDI QIDQ5223150zbMATH OpenOpenAlexFDO

Authors Takeshi Hatanaka, Nikhil Chopra, Junya Yamauchi, Masayuki Fujita

Publication date 17 July 2019

Published in Trends in Control and Decision-Making for Human–Robot Collaboration Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-3-319-40533-9_14

zbMATH Keywords

passivityhuman-swarm collaborationhuman passivity analysisPI consensus estimator

Mathematics Subject Classification ID

Decentralized systems (93A14) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85) Stability of control systems (93D99)

Recommendations

• Co-design of control and scheduling for human-swarm collaboration systems based on mutual trust
• Task-space coordination control of bilateral human-swarm systems
• Human-swarm collaboration with coverage control under nonidentical and limited sensory ranges
• Human-collaborative schemes in the motion control of single and multiple mobile robots
• Analyzing human-swarm interactions using control Lyapunov functions and optimal control

Cites work

• Bilateral teleoperation: An historical survey
• Cooperative control design. A systematic, passivity-based approach
• Distributed consensus in multi-vehicle cooperative control. Theory and applications.
• Human dynamics in man-machine systems
• Interacting with networks of mobile agents
• On relationships among passivity, positive realness, and dissipativity in linear systems
• Passivity-based control and estimation in networked robotics
• Passivity-based control for bilateral teleoperation: a tutorial
• Robust control of dynamically interacting systems
• Subspace methods for system identification.
• Synchronization under space and time-dependent heterogeneities

Cited in

(7)

• Analyzing human-swarm interactions using control Lyapunov functions and optimal control
• Human-collaborative schemes in the motion control of single and multiple mobile robots
• Passivity as a Design Tool for Group Coordination
• When human visual performance is imperfect -- how to optimize the collaboration between one human operator and multiple field robots
• Co-design of control and scheduling for human-swarm collaboration systems based on mutual trust
• Stability analysis for a passive/active human model in physical human-robot interaction with multiple users
• Task-space coordination control of bilateral human-swarm systems

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