TY - GEN
T1 - Haptic teleoperation of multiple unmanned aerial vehicles over the internet
AU - Lee, Dongjun
AU - Franchi, Antonio
AU - Giordano, Paolo Robuffo
AU - Son, Hyoung Il
AU - Bülthoff, Heinrich H.
PY - 2011
Y1 - 2011
N2 - We propose a novel haptic teleoperation control framework for multiple unmanned aerial vehicles (UAVs) over the Internet, consisting of the three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic virtual point (VP); 2) VP control layer, which modulates each VP's motion according to the teleoperation commands and local artificial potentials (for inter-VP/VP-obstacle collision avoidance and inter-VP connectivity preservation); and 3) teleoperation layer, through which a remote human user can command all (or some) of the VPs' velocity while haptically perceiving the state of all (or some) of the UAVs over the Internet. Master-passivity/slave-stability and some asymptotic performance measures are proved. Semi-experiment results are presented to validate the theory.
AB - We propose a novel haptic teleoperation control framework for multiple unmanned aerial vehicles (UAVs) over the Internet, consisting of the three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic virtual point (VP); 2) VP control layer, which modulates each VP's motion according to the teleoperation commands and local artificial potentials (for inter-VP/VP-obstacle collision avoidance and inter-VP connectivity preservation); and 3) teleoperation layer, through which a remote human user can command all (or some) of the VPs' velocity while haptically perceiving the state of all (or some) of the UAVs over the Internet. Master-passivity/slave-stability and some asymptotic performance measures are proved. Semi-experiment results are presented to validate the theory.
UR - http://www.scopus.com/inward/record.url?scp=84855593592&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5979993
DO - 10.1109/ICRA.2011.5979993
M3 - Conference contribution
AN - SCOPUS:84855593592
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1341
EP - 1347
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -