<Abstract>

Bilateral teleoperation systems are crucial for operations in remote and inaccessible environments. This talk explores advances in these systems for heterogeneous master and slave robots in complex settings. We address the challenges of dynamic uncertainties and asymmetric communication delays through a semi-autonomous control framework. This framework enhances safety, efficiency, and flexibility in cluttered spaces. We extend this approach to enable a human operator to interact simultaneously with a swarm of robots remotely. Key to managing the kinematic and spatial disparities between the human and swarm systems is a task-oriented control framework, which facilitates command transmission and feedback integration. We discuss stability and performance improvements, considering time delays and non-passive external forces, supported by experiments on a 3-DOF robotic manipulator with swarm robots.