A passivity-based decentralized approach for the bilateral teleoperation of a group of UAVs with switching topology

Antonio Franchi, Paolo Robuffo Giordano, Cristian Secchi, Hyoung Il Son, Heinrich H. Bülthoff

Research output: Chapter in Book/Report/Conference proceedingConference contribution

46 Citations (Scopus)

Abstract

In this paper, a novel distributed control strategy for teleoperating a fleet of Unmanned Aerial Vehicles (UAVs) is proposed. Using passivity based techniques, we allow the behavior of the UAVs to be as flexible as possible with arbitrary split and join decisions while guaranteeing stability of the system. Furthermore, the overall teleoperation system is also made passive and, therefore, characterized by a stable behavior both in free motion and when interacting with unknown passive obstacles. The performance of the system is validated through semi-experiments.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages898-905
Number of pages8
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
CountryChina
CityShanghai
Period11/5/911/5/13

ASJC Scopus subject areas

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

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    Franchi, A., Giordano, P. R., Secchi, C., Son, H. I., & Bülthoff, H. H. (2011). A passivity-based decentralized approach for the bilateral teleoperation of a group of UAVs with switching topology. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 898-905). [5980368] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5980368