The application of the position-position architecture for enabling position synchronization of two robotic agents has been proven effective in the fields of telemanipulation and rendezvous of autonomous vehicles. Nevertheless, the approaches presented to this date with the purpose of rendering the position-position architecture passive under the presence of time-delays and packet-loss are only partially able to fulfil that goal. This owes to the fact that they mostly focus on passivating the system, at the cost of transparency. Such an issue becomes even more critical in the presence of position drift caused by most passivation methods. This letter presents a novel control approach that enhances the position synchronization of agents suffering from delayed coupling, by introducing a local proxy reference to one of the agents and only closing the feedback loop when it can preserve stability. The concept is free of position drift and promises less conservatism, without having any prior information about system parameters or prior assumptions regarding time-delay. It has been experimentally validated for time-varying round-trip delays of up to 2 s.

中文翻译：

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在不牺牲性能的情况下，基于代理的延迟机器人耦合位置同步方法

用于实现两个机器人代理的位置同步的位置-位置架构的应用已被证明在自动驾驶汽车的远程操作和会合领域是有效的。然而，迄今为止提出的旨在在存在时间延迟和数据包丢失的情况下使位置-位置架构变得被动的方法只能部分实现该目标。这是因为他们主要专注于钝化系统，以牺牲透明度为代价。在大多数钝化方法导致位置漂移的情况下，这样的问题变得更加严重。这封信提出了一种新颖的控制方法，可以增强遭受延迟耦合的代理的位置同步，通过向其中一个代理引入本地代理引用，并且仅在可以保持稳定性时才关闭反馈循环。该概念没有位置漂移并承诺较少的保守性，无需任何有关系统参数的先验信息或有关时延的先验假设。它已通过实验验证，可用于高达 2 秒的时变往返延迟。