Semiautonomous haptic teleoperation control architecture of multiple unmanned aerial vehicles

Dongjun Lee, Antonio Franchi, Hyoung Il Son, Changsu Ha, Heinrich H. Bulthoff, Paolo Robuffo Giordano

    Research output: Contribution to journalArticlepeer-review

    161 Citations (Scopus)

    Abstract

    We propose a novel semiautonomous haptic teleoperation control architecture for multiple unmanned aerial vehicles (UAVs), consisting of three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic Cartesian virtual point (VP); 2) VP control layer, which modulates each VP's motion according to the teleoperation commands and local artificial potentials (for VP-VP/VP-obstacle collision avoidance and VP-VP connectivity preservation); and 3) teleoperation layer, through which a single remote human user can command all (or some) of the VPs' velocity while haptically perceiving the state of all (or some) of the UAVs and obstacles. Master passivity/slave stability and some asymptotic performance measures are proved. Experimental results using four custom-built quadrotor-type UAVs are also presented to illustrate the theory.

    Original languageEnglish
    Article number6522198
    Pages (from-to)1334-1345
    Number of pages12
    JournalIEEE/ASME Transactions on Mechatronics
    Volume18
    Issue number4
    DOIs
    Publication statusPublished - 2013

    Keywords

    • Haptic feedback
    • multiagent control
    • passivity
    • teleoperation
    • unmanned aerial vehicles (UAVs)

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Computer Science Applications
    • Electrical and Electronic Engineering

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