Experiments of passivity-based bilateral aerial teleoperation of a group of UAVs with decentralized velocity synchronization

Paolo Robuffo Giordano, Antonio Franchi, Cristian Secchi, Heinrich Bulthoff

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

13 Citations (Scopus)

Abstract

In this paper, we present an experimental validation of a novel decentralized passivity-based control strategy for teleoperating a group of Unmanned Aerial Vehicles (UAVs): the slave side, consisting of the UAVs, is endowed with large group autonomy by allowing time-varying topology and inter-robot/obstacle collision avoidance. The master side, represented by a human operator, controls the group motion and receives suitable force feedback cues informing her/him about the remote slave motion status. Passivity theory is exploited for guaranteeing stability of the slave side and of the overall teleoperation channel. Results of experiments involving the use of 4 quadcopters are reported and discussed, confirming the soundness of the paper theoretical claims.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages163-170
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

Remote control
Unmanned aerial vehicles (UAV)
Synchronization
Antennas
Collision avoidance
Experiments
Topology
Robots
Feedback

ASJC Scopus subject areas

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

Cite this

Giordano, P. R., Franchi, A., Secchi, C., & Bulthoff, H. (2011). Experiments of passivity-based bilateral aerial teleoperation of a group of UAVs with decentralized velocity synchronization. In IEEE International Conference on Intelligent Robots and Systems (pp. 163-170). [6048536] https://doi.org/10.1109/IROS.2011.6048536

Experiments of passivity-based bilateral aerial teleoperation of a group of UAVs with decentralized velocity synchronization. / Giordano, Paolo Robuffo; Franchi, Antonio; Secchi, Cristian; Bulthoff, Heinrich.

IEEE International Conference on Intelligent Robots and Systems. 2011. p. 163-170 6048536.

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

Giordano, PR, Franchi, A, Secchi, C & Bulthoff, H 2011, Experiments of passivity-based bilateral aerial teleoperation of a group of UAVs with decentralized velocity synchronization. in IEEE International Conference on Intelligent Robots and Systems., 6048536, pp. 163-170, 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.2011.6048536
Giordano PR, Franchi A, Secchi C, Bulthoff H. Experiments of passivity-based bilateral aerial teleoperation of a group of UAVs with decentralized velocity synchronization. In IEEE International Conference on Intelligent Robots and Systems. 2011. p. 163-170. 6048536 https://doi.org/10.1109/IROS.2011.6048536
Giordano, Paolo Robuffo ; Franchi, Antonio ; Secchi, Cristian ; Bulthoff, Heinrich. / Experiments of passivity-based bilateral aerial teleoperation of a group of UAVs with decentralized velocity synchronization. IEEE International Conference on Intelligent Robots and Systems. 2011. pp. 163-170
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