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  Experiments on Intercontinental Haptic Control of Multiple UAVs

Riedel, M., Franchi, A., Robuffo Giordano, P., Bülthoff, H., & Son, H. (2013). Experiments on Intercontinental Haptic Control of Multiple UAVs. In S. Lee, H. Cho, K.-J. Yoon, & J. Lee (Eds.), Intelligent Autonomous Systems 12 (pp. 227-238). Berlin, Germany: Springer.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-B52E-B Version Permalink: http://hdl.handle.net/21.11116/0000-0004-4B9E-7
Genre: Conference Paper

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 Creators:
Riedel, M1, 2, Author              
Franchi, A1, 2, Author              
Robuffo Giordano, P1, 2, Author              
Bülthoff, HH1, 2, Author              
Son, HI1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: 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 forcefeedback 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.

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 Dates: 2013
 Publication Status: Published in print
 Pages: -
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 Rev. Method: -
 Identifiers: ISBN: 978-3-642-33931-8
DOI: 10.1007/978-3-642-33932-5_22
BibTex Citekey: RiedelFRBS2012
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Title: 12th International Conference on Intelligent Autonomous Systems (IAS-12)
Place of Event: Jeju Island, South Korea
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Title: Intelligent Autonomous Systems 12
Source Genre: Proceedings
 Creator(s):
Lee, S, Editor
Cho, H, Editor
Yoon, K-J, Editor
Lee, J, Editor
Affiliations:
-
Publ. Info: Berlin, Germany : Springer
Pages: - Volume / Issue: 2 Sequence Number: - Start / End Page: 227 - 238 Identifier: -

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Title: Advances in Intelligent Systems and Computing
Source Genre: Series
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Publ. Info: -
Pages: - Volume / Issue: 194 Sequence Number: - Start / End Page: 227 - 238 Identifier: -