Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control

Antonio Franchi, Carlo Masone, Heinrich Bulthoff, Paolo Robuffo Giordano

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

24 Citations (Scopus)

Abstract

We present a decentralized system for the bilateral teleoperation of groups of UAVs which only relies on relative bearing measurements, i.e., without the need of distance information or global localization. The properties of a 3D bearing-formation are analyzed, and a minimal set of bearings needed for its definition is provided. We also design a novel decentralized formation control almost globally convergent and able to maintain bounded and non-vanishing inter-distances among the agents despite the absence of direct distance measurements. Furthermore, we develop a multi-master/multi-slave teleoperation setup in order to control the overall behavior of the group and to convey to the human operator suitable force cues, while ensuring stability in presence of delays and packet losses over the master-slave communication channel. The theoretical framework is validated by means of extensive human/hardware in-the-loop simulations using two force-feedback devices and a group of quadrotors.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages2215-2222
Number of pages8
DOIs
Publication statusPublished - 2011 Dec 29
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 2011 Sep 252011 Sep 30

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period11/9/2511/9/30

Fingerprint

Bearings (structural)
Remote control
Unmanned aerial vehicles (UAV)
Distance measurement
Packet loss
Feedback
Hardware

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Franchi, A., Masone, C., Bulthoff, H., & Robuffo Giordano, P. (2011). Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control. In IEEE International Conference on Intelligent Robots and Systems (pp. 2215-2222). [6048201] https://doi.org/10.1109/IROS.2011.6048201

Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control. / Franchi, Antonio; Masone, Carlo; Bulthoff, Heinrich; Robuffo Giordano, Paolo.

IEEE International Conference on Intelligent Robots and Systems. 2011. p. 2215-2222 6048201.

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

Franchi, A, Masone, C, Bulthoff, H & Robuffo Giordano, P 2011, Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control. in IEEE International Conference on Intelligent Robots and Systems., 6048201, pp. 2215-2222, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States, 11/9/25. https://doi.org/10.1109/IROS.2011.6048201
Franchi A, Masone C, Bulthoff H, Robuffo Giordano P. Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control. In IEEE International Conference on Intelligent Robots and Systems. 2011. p. 2215-2222. 6048201 https://doi.org/10.1109/IROS.2011.6048201
Franchi, Antonio ; Masone, Carlo ; Bulthoff, Heinrich ; Robuffo Giordano, Paolo. / Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control. IEEE International Conference on Intelligent Robots and Systems. 2011. pp. 2215-2222
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