TY - GEN
T1 - Experiments on intercontinental haptic control of multiple UAVs
AU - Riedel, Martin
AU - Franchi, Antonio
AU - Giordano, Paolo Robuffo
AU - Bülthoff, Heinrich H.
AU - Son, Hyoung Il
PY - 2013
Y1 - 2013
N2 - In this paper we propose and experimentally validate a bilateral teleoperation framework where a group of UAVs are controlled over an unreliable network with typical intercontinental time delays and packet losses. This setting is meant to represent a realistic and challenging situation for the stability the bilateral closed-loop system. In order to increase human telepresence, the system provides the operator with both a video stream coming from the onboard cameras mounted on the UAVs, and with a suitable haptic cue, generated by a force-feedback device, informative of the UAV tracking performance and presence of impediments on the remote site. In addition to the theoretical background, we describe the hardware and software implementation of this intercontinental teleoperation: this is composed of a semi-autonomous group of multiple quadrotor UAVs, a 3-DOF haptic interface, and a network connection based on a VPN tunnel between Germany and South Korea. The whole software framework is based upon the Robotic Operating System (ROS) communication standard.
AB - In this paper we propose and experimentally validate a bilateral teleoperation framework where a group of UAVs are controlled over an unreliable network with typical intercontinental time delays and packet losses. This setting is meant to represent a realistic and challenging situation for the stability the bilateral closed-loop system. In order to increase human telepresence, the system provides the operator with both a video stream coming from the onboard cameras mounted on the UAVs, and with a suitable haptic cue, generated by a force-feedback device, informative of the UAV tracking performance and presence of impediments on the remote site. In addition to the theoretical background, we describe the hardware and software implementation of this intercontinental teleoperation: this is composed of a semi-autonomous group of multiple quadrotor UAVs, a 3-DOF haptic interface, and a network connection based on a VPN tunnel between Germany and South Korea. The whole software framework is based upon the Robotic Operating System (ROS) communication standard.
UR - http://www.scopus.com/inward/record.url?scp=84872799005&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-33932-5_22
DO - 10.1007/978-3-642-33932-5_22
M3 - Conference contribution
AN - SCOPUS:84872799005
SN - 9783642339318
T3 - Advances in Intelligent Systems and Computing
SP - 227
EP - 238
BT - Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012
PB - Springer Verlag
T2 - 12th International Conference on Intelligent Autonomous Systems, IAS 2012
Y2 - 26 June 2012 through 29 June 2012
ER -