Semi-Autonomous Control of Single-Master Multi-Slave Teleoperation of Heterogeneous Robots for Multi-Task Multi-Target Pairing

This paper focuses on developing a control method for a single-master multi-slave (SMMS) system to cooperatively control a team of mobile agents for multi-robot multi-task multitarget (MRMTMT) pairing. Major components of the developed control method are (1) modified potential field based leader-follower formation, (2) adaptive master-slave impedances, (3) compensation for human induced errors and contact forces, and (4) robot-task-target pairings. Component (1)-(3) have been developed for formation reconfiguration, collision avoidance, and motion control for reliability and robustness. Component (4) is derived from proven auction algorithms for MRMTMT cases, which optimizes robot-task-target pairing based on heuristic data. The MRMTMT pairing method is developed using a weighted attack guidance table (WAGT), which includes benefits of subteam-robot-task-target pairs. It converges rapidly as is the case for auction algorithms with integer benefits. Simulations illustrated efficacy of a SMMS system with proposed Component (1)-(4) of the control method for multi-target capturing and transporting.