TY - GEN
T1 - The TeleKyb framework for a modular and extendible ROS-based quadrotor control
AU - Grabe, Volker
AU - Riedel, Martin
AU - Bulthoff, Heinrich H.
AU - Giordano, Paolo Robuffo
AU - Franchi, Antonio
PY - 2013
Y1 - 2013
N2 - The free and open source Tele-Operation Platform of the MPI for Biological Cybernetics (TeleKyb) is an end-to-end software framework for the development of bilateral teleoperation systems between human interfaces (e.g., haptic force feedback devices or gamepads) and groups of quadrotor Unmanned Aerial Vehicles (UAVs). Among drivers for devices and robots from various hardware manufactures, TeleKyb provides a high-level closed-loop robotic controller for mobile robots that can be extended dynamically with modules for state estimation, trajectory planning, processing, and tracking. Since all internal communication is based on the Robot Operating System (ROS), TeleKyb can be easily extended to meet future needs. The capabilities of the overall framework are demonstrated in both an experimental validation of the controller for an individual quadrotor and a complex experimental setup involving bilateral human-robot interaction and shared formation control of multiple UAVs.
AB - The free and open source Tele-Operation Platform of the MPI for Biological Cybernetics (TeleKyb) is an end-to-end software framework for the development of bilateral teleoperation systems between human interfaces (e.g., haptic force feedback devices or gamepads) and groups of quadrotor Unmanned Aerial Vehicles (UAVs). Among drivers for devices and robots from various hardware manufactures, TeleKyb provides a high-level closed-loop robotic controller for mobile robots that can be extended dynamically with modules for state estimation, trajectory planning, processing, and tracking. Since all internal communication is based on the Robot Operating System (ROS), TeleKyb can be easily extended to meet future needs. The capabilities of the overall framework are demonstrated in both an experimental validation of the controller for an individual quadrotor and a complex experimental setup involving bilateral human-robot interaction and shared formation control of multiple UAVs.
UR - http://www.scopus.com/inward/record.url?scp=84893327063&partnerID=8YFLogxK
U2 - 10.1109/ECMR.2013.6698814
DO - 10.1109/ECMR.2013.6698814
M3 - Conference contribution
AN - SCOPUS:84893327063
SN - 9781479902637
T3 - 2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings
SP - 19
EP - 25
BT - 2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings
PB - IEEE Computer Society
T2 - 2013 6th European Conference on Mobile Robots, ECMR 2013
Y2 - 25 September 2013 through 27 September 2013
ER -