Bilateral teleoperation of a group of UAVs with communication delays and switching topology

Cristian Secchi; Antonio Franchi; Heinrich H. Bülthoff; Paolo Robuffo Giordano

doi:10.1109/ICRA.2012.6225304

Bilateral teleoperation of a group of UAVs with communication delays and switching topology

Cristian Secchi, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano

Department of Brain and Cognitive Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

45 Citations (Scopus)

Abstract

In this paper, we present a passivity-based decentralized approach for bilaterally teleoperating a group of UAVs composing the slave side of the teleoperation system. In particular, we explicitly consider the presence of time delays, both among the master and slave, and within UAVs composing the group. Our focus is on analyzing suitable (passive) strategies that allow a stable teloperation of the group despite presence of delays, while still ensuring high flexibility to the group topology (e.g., possibility to autonomously split or join during the motion). The performance and soundness of the approach is validated by means of human/hardware-in-the-loop simulations (HHIL).

Original language	English
Title of host publication	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4307-4314
Number of pages	8
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/ICRA.2012.6225304
Publication status	Published - 2012
Event	2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States Duration: 2012 May 14 → 2012 May 18

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/Territory	United States
City	Saint Paul, MN
Period	12/5/14 → 12/5/18

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2012.6225304

Cite this

Secchi, C., Franchi, A., Bülthoff, H. H., & Giordano, P. R. (2012). Bilateral teleoperation of a group of UAVs with communication delays and switching topology. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 4307-4314). [6225304] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225304

Bilateral teleoperation of a group of UAVs with communication delays and switching topology. / Secchi, Cristian; Franchi, Antonio; Bülthoff, Heinrich H. et al.
2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 4307-4314 6225304 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Secchi, C, Franchi, A, Bülthoff, HH & Giordano, PR 2012, Bilateral teleoperation of a group of UAVs with communication delays and switching topology. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6225304, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 4307-4314, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 12/5/14. https://doi.org/10.1109/ICRA.2012.6225304

Secchi C, Franchi A, Bülthoff HH, Giordano PR. Bilateral teleoperation of a group of UAVs with communication delays and switching topology. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc. 2012. p. 4307-4314. 6225304. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2012.6225304

Secchi, Cristian ; Franchi, Antonio ; Bülthoff, Heinrich H. et al. / Bilateral teleoperation of a group of UAVs with communication delays and switching topology. 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. pp. 4307-4314 (Proceedings - IEEE International Conference on Robotics and Automation).

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Bilateral teleoperation of a group of UAVs with communication delays and switching topology

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