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Consensus-Based Peer-to-Peer Control Architecture for Multiuser Haptic Interaction Over the Internet

Consensus-Based Peer-to-Peer Control Architecture for Multiuser Haptic Interaction Over the Internet
학술지명 IEEE Transactions On Robotics ISSN 1552-3098
SCI 유무 SCI 게재연월 2013-04 Vol. 29 No. 2
표준화된 순위정보영향력지수 94.44 IF 2.536 Citation 1

Consensus-Based Peer-to-Peer Control Architecture for Multiuser Haptic Interaction Over the Internet
국제공동연구 Western Digital Corporation(USA)
저자 Ke Huang, DongJun Lee
초록
We propose a novel peer-to-peer (P2P) distributed control architecture for the shared haptic interaction among remotely located users over partially connected and undirected unreliable Internet communication network with varying delay, packet loss, data swapping/duplication, etc. Each user simulates and interacts with their own local copy of the shared deformable virtual object (for haptic responsiveness against latency), while these local copies are synchronized via a proportional-derivative type consensus control over the Internet communication network (for haptic experience consistency among the users). Our proposed architecture enforces passivity, thereby, rendering itself to be interaction stable, portable, and scalable for heterogeneous (passive) users and devices. Configuration consensus among the local copies and force balance among the users are also shown. The issue of optimizing communication network topology is also addressed with some relevant experimental results.
keyword Communication graph, consensus, Internet, multiuser shared haptic interaction, passivity.

Consensus-Based Peer-to-Peer Control Architecture for Multiuser Haptic Interaction Over the Internet
과제명 원격 상호작용시 발생하는 복합감각 재현을 위한 휴먼 인터페이스 시스템 및 제어 연구
연구기관 한국과학기술연구원 연구책임자 김도익