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

Department of Brain and Cognitive Engineering

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

52 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
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic 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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