Bilateral teleoperation of groups of UAVs with decentralized connectivity maintenance

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

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

7 Citations (Scopus)

Abstract

In this paper, we present a decentralized passivitybased control strategy for the bilateral teleoperation of a group of Unmanned Aerial Vehicles (UAVs). The human operator at the master side can command the group motion and receive suitable force cues informative about the remote environment. By properly controlling the energy exchanged within the slave side (the UAV group), we guarantee that the connectivity of the group is preserved and we prevent inter-agent and obstacle collisions. At the same time, we allow the behavior of the UAVs to be as flexible as possible with arbitrary split and join maneuvers. The results of the paper are validated by means of human/hardwarein- the-loop (HHIL) simulations.

Original languageEnglish
Title of host publicationRobotics
Subtitle of host publicationScience and Systems VII
EditorsHugh Durrant-Whyte, Pieter Abbeel, Nicholas Roy
PublisherMIT Press Journals
Pages273-280
Number of pages8
ISBN (Print)9780262517799
Publication statusPublished - 2012
EventInternational Conference on Robotics Science and Systems, RSS 2011 - Los Angeles, United States
Duration: 2011 Jun 272011 Jul 1

Publication series

NameRobotics: Science and Systems
Volume7
ISSN (Print)2330-7668
ISSN (Electronic)2330-765X

Other

OtherInternational Conference on Robotics Science and Systems, RSS 2011
Country/TerritoryUnited States
CityLos Angeles
Period11/6/2711/7/1

ASJC Scopus subject areas

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

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