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  Bilateral teleoperation of a group of UAVs with communication delays and switching topology

Secchi, C., Franchi, A., Bülthoff, H., & Robuffo Giordano, P. (2012). Bilateral teleoperation of a group of UAVs with communication delays and switching topology. In 2012 IEEE International Conference on Robotics and Automation (pp. 4307-4314). Piscataway, NJ, USA: IEEE.

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Secchi, C, Author
Franchi, A1, 2, Author              
Bülthoff, HH1, 2, Author              
Robuffo Giordano, P1, 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 present a passivity-based decentralized approach for bilaterally teleoperating a group of UAVs composing the slave side of the teleoperation system. In particular, we explicitly consider the presence of time delays, both among the master and slave, and within UAVs composing the group. Our focus is on analyzing suitable (passive) strategies that allow a stable teloperation of the group despite presence of delays, while still ensuring high flexibility to the group topology (e.g., possibility to autonomously split or join during the motion). The performance and soundness of the approach is validated by means of human/hardware-in-the-loop simulations (HHIL).

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 Dates: 2012-05
 Publication Status: Published in print
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 Identifiers: DOI: 10.1109/ICRA.2012.6225304
BibTex Citekey: SecchiFBP2012
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Title: IEEE International Conference on Robotics and Automation (ICRA 2012)
Place of Event: St. Paul, MN, USA
Start-/End Date: 2012-05-14 - 2012-05-18

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Title: 2012 IEEE International Conference on Robotics and Automation
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 4307 - 4314 Identifier: ISBN: 978-1-4673-1405-3