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Unlike other strategies, the proposed scheme has a model of the human operator inside it, including his decision so that human and robot \u201cpush in the same direction.\u201d The stability of the teleoperation system adding the proposed control scheme is proven concluding how the time delay changes the convergence rate and the convergence ball size. Finally, to illustrate the performance and stability of the proposed control structure, several teleoperation experiments in presence of various delays are shown.<\/jats:p>","DOI":"10.1017\/s0263574709005517","type":"journal-article","created":{"date-parts":[[2009,3,17]],"date-time":"2009-03-17T11:08:01Z","timestamp":1237288081000},"page":"11-22","source":"Crossref","is-referenced-by-count":9,"title":["Control scheme including prediction and augmented reality for teleoperation of mobile robots"],"prefix":"10.1017","volume":"28","author":[{"given":"Emanuel","family":"Slawi\u00f1ski","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vicente","family":"Mut","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,17]]},"reference":[{"key":"S0263574709005517_ref12","doi-asserted-by":"publisher","DOI":"10.1162\/pres.1992.1.1.29"},{"key":"S0263574709005517_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2003.809203"},{"key":"S0263574709005517_ref19","unstructured":"19. Leeraphan S. , Maneewan T. and Laowattana S. , \u201cStable Adaptive Bilateral Control of Transparent Teleoperation through Time-Varying Delay,\u201d Proceeding of the International Conference on Intelligent Robots and Systems (IROS 2002), Lausanne, Switzerland (Sep. 30\u2013Oct. 4, 2002)."},{"key":"S0263574709005517_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/100.388294"},{"key":"S0263574709005517_ref37","unstructured":"37. Zhang C. , Lee Y. and Chong K. T. , \u201cPassive Teleoperation Control with Varying Time Delay,\u201d Proceedings of the 9th IEEE International Workshop on Advanced Motion Control, Istanbul, Turkey (2006) pp. 23\u201328."},{"key":"S0263574709005517_ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2004.825516"},{"key":"S0263574709005517_ref33","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.09.002"},{"key":"S0263574709005517_ref30","doi-asserted-by":"crossref","unstructured":"30. 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C. , \u201cSliding-mode Control of Bilateral Teleoperation Systems with Force-Reflection on the Internet,\u201d Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan (2000) pp. 1187\u20131192."},{"key":"S0263574709005517_ref28","unstructured":"28. Slawi\u00f1ski E. , Mut V. and Postigo J. F. , \u201cBilateral Teleoperation of Mobile Robots with Delay,\u201d Proceedings of the IEEE ICMA05, Niagara Falls, Canada (2005) pp. 1672\u20131677."},{"key":"S0263574709005517_ref9","doi-asserted-by":"crossref","unstructured":"9. Chopra N. and Spong M. W. , \u201cBilateral Teleoperation over the Internet: the Time Varying Delay Problem,\u201d Proceedings of the American Control Conference, Denver, Colorado (Jun. 4\u20136, 2003), pp. 155\u2013160.","DOI":"10.1109\/ACC.2003.1238930"},{"key":"S0263574709005517_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/9.24201"},{"key":"S0263574709005517_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(01)00164-6"},{"volume-title":"An Introduction to the Kalman Filter","year":"2001","author":"Bishop","key":"S0263574709005517_ref5"},{"key":"S0263574709005517_ref6","unstructured":"6. Brady K. and Tarn T. 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Hernando M. and Gambao E. , \u201cA Robot Teleprogramming Architecture,\u201d Proceedings of the International Conference on Advanced Intelligent Mechatronics, Port Island, Kobe, Japan (2003) pp. 1113\u20131118."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574709005517","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,8]],"date-time":"2025-02-08T13:06:24Z","timestamp":1739019984000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574709005517\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,3,17]]},"references-count":37,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2010,1]]}},"alternative-id":["S0263574709005517"],"URL":"https:\/\/doi.org\/10.1017\/s0263574709005517","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2009,3,17]]}}}