Bilateral teleoperation of groups of UAVs with decentralized connectivity maintenance

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

Bilateral teleoperation of groups of UAVs with decentralized connectivity maintenance

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

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

Abstract

In this paper, we present a decentralized passivitybased control strategy for the bilateral teleoperation of a group of Unmanned Aerial Vehicles (UAVs). The human operator at the master side can command the group motion and receive suitable force cues informative about the remote environment. By properly controlling the energy exchanged within the slave side (the UAV group), we guarantee that the connectivity of the group is preserved and we prevent inter-agent and obstacle collisions. At the same time, we allow the behavior of the UAVs to be as flexible as possible with arbitrary split and join maneuvers. The results of the paper are validated by means of human/hardwarein- the-loop (HHIL) simulations.

Original language	English
Title of host publication	Robotics
Subtitle of host publication	Science and Systems VII
Editors	Hugh Durrant-Whyte, Pieter Abbeel, Nicholas Roy
Publisher	MIT Press Journals
Pages	273-280
Number of pages	8
ISBN (Print)	9780262517799
Publication status	Published - 2012
Event	International Conference on Robotics Science and Systems, RSS 2011 - Los Angeles, United States Duration: 2011 Jun 27 → 2011 Jul 1

Publication series

Name	Robotics: Science and Systems
Volume	7
ISSN (Print)	2330-7668
ISSN (Electronic)	2330-765X

Other

Other	International Conference on Robotics Science and Systems, RSS 2011
Country/Territory	United States
City	Los Angeles
Period	11/6/27 → 11/7/1

ASJC Scopus subject areas

Artificial Intelligence
Control and Systems Engineering
Electrical and Electronic Engineering

Cite this

Bilateral teleoperation of groups of UAVs with decentralized connectivity maintenance. / Giordano, Paolo Robuffo; Franchi, Antonio; Secchi, Cristian et al.
Robotics: Science and Systems VII. ed. / Hugh Durrant-Whyte; Pieter Abbeel; Nicholas Roy. MIT Press Journals, 2012. p. 273-280 (Robotics: Science and Systems; Vol. 7).

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

Giordano, PR, Franchi, A, Secchi, C & Bülthoff, HH 2012, Bilateral teleoperation of groups of UAVs with decentralized connectivity maintenance. in H Durrant-Whyte, P Abbeel & N Roy (eds), Robotics: Science and Systems VII. Robotics: Science and Systems, vol. 7, MIT Press Journals, pp. 273-280, International Conference on Robotics Science and Systems, RSS 2011, Los Angeles, United States, 11/6/27.

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Bilateral teleoperation of groups of UAVs with decentralized connectivity maintenance

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