Nested Field-of-View Barriers for Teleoperated Multi-Robot Relay Chains
Nested Field-of-View Barriers for Teleoperated Multi-Robot Relay Chains
This research presents a shared-autonomy framework enabling teleoperation of mobile robots in communication-denied environments. By employing nested hard-soft visibility constraints and geometric Control Barrier Functions, the system ensures connectivity while allowing follower robots to maintain mobility. The approach is validated through simulations on kinematic integrators and software-in-the-loop Crazyflie quadrotors within confined and cluttered settings.
The paper proposes a shared-autonomy framework using nested visibility constraints and Control Barrier Functions to maintain communication links for teleoperated multi-robot relay chains in environments where direct line-of-sight to a base station is obstructed.
Source: arXiv Robotics — research abstracts · Read original article ↗
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set under the resulting distributed controller. The contraction parameter shapes follower behavior without affecting the guarantee, which follows from the strict constraint alone. The framework is evaluated in confined and cluttered environments on two simulated systems: a kinematic integrator and software-in-the-loop Crazyflie quadrotors. Compared with a baseline tuned to reach the goal in comparable time, the fram
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arXiv:2611.05074v1 Announce Type: new Abstract: Teleoperation of mobile robots in communication-denied environments requires maintaining a communication link while allowing the operator to maneuver freely. We propose a shared-autonomy framework in which a teleoperated leader is followed by a chain of autonomous robots that relays a line of sight to a fixed base station, a geometric proxy for the link. Connectivity is
Open source S2
Source：arXiv Robotics — research abstracts · arxiv.org