Asymmetrie multilateral teleoperation through scaled consensus reaching on graphs

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.