Asymmetrie multilateral teleoperation through scaled consensus reaching on graphs

Ugur Tumerdem, Tomoyuki Shimono, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


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 languageEnglish
Pages (from-to)972-980
Number of pages9
Journalieej transactions on industry applications
Issue number10
Publication statusPublished - 2009 Nov 26


  • Consensus algorithms
  • Multilateral teleoperation
  • Networked control
  • Scaled haptic teleoperation

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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