Teleoperating a formation of car-like rovers under time delays
Why this work is in the frame
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Bibliographic record
Abstract
This paper addresses bilateral teleoperation of a formation of car-like planetary rovers under communication delays. The mobile robots form a team using the leader-follower approach, with the leader being teleoperated by human operator via a haptic device. Communication delays present in the teleoperation channel, and as well between the leader and the followers. The haptic joystick provides the human operator with a force-feedback mechanism describing the environmental conditions, based on the relative distances and speeds between the rover and the obstacles. The teleoperation is implemented with an impedance controller based on the sliding-mode method, which accomplishes speed coordination. Formation control is developed based on the input-output linearization method. The follower robots keep constant distances and relative bearing angles with respect to the leader. An improved PD-type formation controller is proposed to compensate the delay effect, which is proved to be stable and effective in tracking. Hardware experiments support the implementation of both the teleoperation and the formation controllers, which also showed capability of dealing with variable time delays in the communication channels.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it