TY - GEN
T1 - Experiments of passivity-based bilateral aerial teleoperation of a group of UAVs with decentralized velocity synchronization
AU - Giordano, Paolo Robuffo
AU - Franchi, Antonio
AU - Secchi, Cristian
AU - Bülthoff, Heinrich H.
PY - 2011
Y1 - 2011
N2 - In this paper, we present an experimental validation of a novel decentralized passivity-based control strategy for teleoperating a group of Unmanned Aerial Vehicles (UAVs): the slave side, consisting of the UAVs, is endowed with large group autonomy by allowing time-varying topology and inter-robot/obstacle collision avoidance. The master side, represented by a human operator, controls the group motion and receives suitable force feedback cues informing her/him about the remote slave motion status. Passivity theory is exploited for guaranteeing stability of the slave side and of the overall teleoperation channel. Results of experiments involving the use of 4 quadcopters are reported and discussed, confirming the soundness of the paper theoretical claims.
AB - In this paper, we present an experimental validation of a novel decentralized passivity-based control strategy for teleoperating a group of Unmanned Aerial Vehicles (UAVs): the slave side, consisting of the UAVs, is endowed with large group autonomy by allowing time-varying topology and inter-robot/obstacle collision avoidance. The master side, represented by a human operator, controls the group motion and receives suitable force feedback cues informing her/him about the remote slave motion status. Passivity theory is exploited for guaranteeing stability of the slave side and of the overall teleoperation channel. Results of experiments involving the use of 4 quadcopters are reported and discussed, confirming the soundness of the paper theoretical claims.
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U2 - 10.1109/IROS.2011.6048536
DO - 10.1109/IROS.2011.6048536
M3 - Conference contribution
AN - SCOPUS:84455195550
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 163
EP - 170
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -