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  Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control

Franchi, A., Masone, C., Bülthoff, H., & Robuffo Giordano, P. (2011). Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control. In N. Amato (Ed.), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011) (pp. 2215-2222). Piscataway, NJ, USA: IEEE.

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 Creators:
Franchi, A1, 2, Author              
Masone, C1, 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: We present a decentralized system for the bilateral teleoperation of groups of UAVs which only relies on relative bearing measurements, i.e., without the need of distance information or global localization. The properties of a 3D bearing-formation are analyzed, and a minimal set of bearings needed for its definition is provided. We also design a novel decentralized formation control almost globally convergent and able to maintain bounded and non-vanishing inter-distances among the agents despite the absence of direct distance measurements. Furthermore, we develop a multi-master/ multi-slave teleoperation setup in order to control the overall behavior of the group and to convey to the human operator suitable force cues, while ensuring stability in presence of delays and packet losses over the master-slave communication channel. The theoretical framework is validated by means of extensive human/hardware in-the-loop simulations using two force-feedback devices and a group of quadrotors.

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 Dates: 2011-09
 Publication Status: Published in print
 Pages: -
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 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1109/IROS.2011.6094525
BibTex Citekey: FranchiMBR2011
 Degree: -

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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
Place of Event: San Francisco, CA, USA
Start-/End Date: 2011-09-25 - 2011-09-30

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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
Source Genre: Proceedings
 Creator(s):
Amato, NM, Editor
Affiliations:
-
Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 2215 - 2222 Identifier: ISBN: 978-1-61284-454-1