Distributed online leader selection in the bilateral teleoperation of multiple UAVs

Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano

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

18 Citations (Scopus)

Abstract

For several applications like data collection, surveillance, search and rescue and exploration of wide areas, the use of a group of simple robots rather than a single complex robot has proven to be very effective and promising, and the problem of coordinating a group of agents has received a lot of attention over the last years. In this paper, we consider the challenge of establishing a bilateral force-feedback teleoperation channel between a human operator (the master side) and a remote multi-robot system (the slave side) where a special agent, the leader, is selected and directly controlled by the master. In particular, we study the problem of distributed online optimal leader selection, i.e., how to choose, and possibly change, the leader online in order to maximize some suitable criteria related to the tracking performance of the whole group w.r.t. the master commands. Human/hardware-in-the-loop simulation results with a group of UAVs support the theoretical claims of the paper.

Original languageEnglish
Title of host publication2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Pages3559-3565
Number of pages7
DOIs
Publication statusPublished - 2011
Event2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States
Duration: 2011 Dec 122011 Dec 15

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
CountryUnited States
CityOrlando, FL
Period11/12/1211/12/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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    Franchi, A., Bülthoff, H. H., & Robuffo Giordano, P. (2011). Distributed online leader selection in the bilateral teleoperation of multiple UAVs. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 (pp. 3559-3565). [6160944] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2011.6160944