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 proceedingConference 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 languageEnglish
    Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
    Pages1341-1347
    Number of pages7
    DOIs
    Publication statusPublished - 2011
    Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
    Duration: 2011 May 92011 May 13

    Publication series

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

    Other

    Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
    Country/TerritoryChina
    CityShanghai
    Period11/5/911/5/13

    ASJC Scopus subject areas

    • Software
    • Artificial Intelligence
    • Electrical and Electronic Engineering
    • Control and Systems Engineering

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