This paper proposes a collision avoidance method for the teleoperation of multiple non-holonomic mobile robots from multiple users. Each human operator drives a mobile robot, where each one performs an independent task in a common workspace. To avoid collisions, the proposed method only acts on the speed of the mobile robots; therefore, the human operator can freely drive the robot over the path he chooses to. The developed analysis allows us to assure that a solution is always achieved. Finally, the results of the experiments are shown, in order to test the performance of the proposed control scheme.

This paper proposes control algorithms for heterogeneous teleoperation systems to guarantee stability and tracking performance in the presence of time-varying communication delays. Because robotic manipulators, in most applications of bilateral teleoperation systems, interact with a human operator and remote environment on the end-effector, the control system is developed in the task-space. When the dynamic parameters of the robots are unknown and the communication network is subject to time-varying delay, the developed controller can ensure stability and task-space position tracking. Additionally, if the robotic systems are influenced by human and environmental forces, the presented teleoperation control system is demonstrated to be stable and all signals are proven to be ultimately bounded. By employing the redundancy of the slave robot for sub-task control, the proposed teleoperation system can autonomously achieve additional missions in the remote environment. Numerical examples utilizing a redundant planar robot are addressed to validate the proposed task-space teleoperators with time-varying delay.

A continuous finite-time control scheme for networked bilateral teleoperation is proposed in this brief. The terminal sliding mode technology is used and new master–slave torques are designed. With the new controller, the coordination error of the master manipulator and the slave manipulator converges to zero in finite time. Moreover, the reaching time and the sliding time can be derived. Finally, the comparisons are performed and simulations show the effectiveness of the proposed approach.