Abstract
Consensus algorithms enable nodes on a Laplacian graph to dynamically reach an agreement-consensus on certain values, such as the average of initial conditions or local inputs. In this paper we propose a different kind of algorithm, the scaled consensus algorithm based on weighted digraphs. This algorithm enables nodes to track different values which are functions of a common consensus value, depending on the weights of the graph. We employ this algorithm for asymmetric multilateral teleoperation, which requires scaled force reflection and position tracking. More specifically; we generalize the four-channel based multilateral teleoperation architecture for various network configurations, taking the scalings into consideration as well. We also show that the algorithm can be applied to micro-macro teleoperation systems.
| Original language | English |
|---|---|
| Pages (from-to) | 972-980 |
| Number of pages | 9 |
| Journal | IEEJ Transactions on Industry Applications |
| Volume | 129 |
| Issue number | 10 |
| DOIs | |
| Publication status | Published - 2009 |
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Keywords
- Consensus algorithms
- Multilateral teleoperation
- Networked control
- Scaled haptic teleoperation
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering
Cite this
Asymmetrie multilateral teleoperation through scaled consensus reaching on graphs. / Tumerdem, Ugur; Shimono, Tomoyuki; Ohnishi, Kouhei.
In: IEEJ Transactions on Industry Applications, Vol. 129, No. 10, 2009, p. 972-980.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Asymmetrie multilateral teleoperation through scaled consensus reaching on graphs
AU - Tumerdem, Ugur
AU - Shimono, Tomoyuki
AU - Ohnishi, Kouhei
PY - 2009
Y1 - 2009
N2 - Consensus algorithms enable nodes on a Laplacian graph to dynamically reach an agreement-consensus on certain values, such as the average of initial conditions or local inputs. In this paper we propose a different kind of algorithm, the scaled consensus algorithm based on weighted digraphs. This algorithm enables nodes to track different values which are functions of a common consensus value, depending on the weights of the graph. We employ this algorithm for asymmetric multilateral teleoperation, which requires scaled force reflection and position tracking. More specifically; we generalize the four-channel based multilateral teleoperation architecture for various network configurations, taking the scalings into consideration as well. We also show that the algorithm can be applied to micro-macro teleoperation systems.
AB - Consensus algorithms enable nodes on a Laplacian graph to dynamically reach an agreement-consensus on certain values, such as the average of initial conditions or local inputs. In this paper we propose a different kind of algorithm, the scaled consensus algorithm based on weighted digraphs. This algorithm enables nodes to track different values which are functions of a common consensus value, depending on the weights of the graph. We employ this algorithm for asymmetric multilateral teleoperation, which requires scaled force reflection and position tracking. More specifically; we generalize the four-channel based multilateral teleoperation architecture for various network configurations, taking the scalings into consideration as well. We also show that the algorithm can be applied to micro-macro teleoperation systems.
KW - Consensus algorithms
KW - Multilateral teleoperation
KW - Networked control
KW - Scaled haptic teleoperation
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UR - http://www.scopus.com/inward/citedby.url?scp=70450126186&partnerID=8YFLogxK
U2 - 10.1541/ieejias.129.972
DO - 10.1541/ieejias.129.972
M3 - Article
AN - SCOPUS:70450126186
VL - 129
SP - 972
EP - 980
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
SN - 0913-6339
IS - 10
ER -