Haptic teleoperation of multiple unmanned aerial vehicles over the internet

Dongjun Lee; Antonio Franchi; Paolo Robuffo Giordano; Hyoung Il Son; Heinrich H. Bülthoff

doi:10.1109/ICRA.2011.5979993

Haptic teleoperation of multiple unmanned aerial vehicles over the internet

Dongjun Lee, Antonio Franchi, Paolo Robuffo Giordano, Hyoung Il Son, Heinrich H. Bülthoff

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

57 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages	1341-1347
Number of pages	7
DOIs	https://doi.org/10.1109/ICRA.2011.5979993
Publication status	Published - 2011
Event	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: 2011 May 9 → 2011 May 13

Publication series

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

Other

Other	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/Territory	China
City	Shanghai
Period	11/5/9 → 11/5/13

ASJC Scopus subject areas

Software
Artificial Intelligence
Electrical and Electronic Engineering
Control and Systems Engineering

Access to Document

10.1109/ICRA.2011.5979993

Cite this

Lee, D., Franchi, A., Giordano, P. R., Son, H. I., & Bülthoff, H. H. (2011). Haptic teleoperation of multiple unmanned aerial vehicles over the internet. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 1341-1347). Article 5979993 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5979993

Haptic teleoperation of multiple unmanned aerial vehicles over the internet. / Lee, Dongjun; Franchi, Antonio; Giordano, Paolo Robuffo et al.
2011 IEEE International Conference on Robotics and Automation, ICRA 2011. 2011. p. 1341-1347 5979993 (Proceedings - IEEE International Conference on Robotics and Automation).

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

Lee, D, Franchi, A, Giordano, PR, Son, HI & Bülthoff, HH 2011, Haptic teleoperation of multiple unmanned aerial vehicles over the internet. in 2011 IEEE International Conference on Robotics and Automation, ICRA 2011., 5979993, Proceedings - IEEE International Conference on Robotics and Automation, pp. 1341-1347, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 11/5/9. https://doi.org/10.1109/ICRA.2011.5979993

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Haptic teleoperation of multiple unmanned aerial vehicles over the internet

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