Implementation of N:1/1:N work distribution function for tele-operation under multi-user and multi-robot environments

摘要

In this paper, the implementation of a work distribution function for tele-operation under multi-user and multi-robot environments is described. First of all, XML-based UDS(Unit-task Description Structure) is defined to make task scenarios, to distribute the work to multi-users and to consider emergency states in the task. Considering the role of users and control methods, various kinds of switching modes are defined, and a switching controller is designed. To prove the work distribution function, a simulation environment including a Marilou robotic simulator based slave robot environment is implemented. In this environment, the effectiveness of the work distribution function is tested.