English
 
Help Privacy Policy Disclaimer
  Advanced SearchBrowse

Item

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

Robuffo Giordano, P., Franchi, A., Secchi, C., & Bülthoff, H. (2011). Experiments of passivity-based bilateral aerial teleoperation of a group of UAVs with decentralized velocity synchronization. In N. Amata (Ed.), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011) (pp. 163-170). Piscataway, NJ, USA: IEEE.

Item is

Files

show Files

Locators

show
hide
Description:
-

Creators

show
hide
 Creators:
Robuffo Giordano, P1, 2, Author              
Franchi, A1, 2, Author              
Secchi, C, Author
Bülthoff, HH1, 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              

Content

show
hide
Free keywords: -
 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 interrobot/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.

Details

show
hide
Language(s):
 Dates: 2011-09
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1109/IROS.2011.6094895
BibTex Citekey: RobuffoGiordanoFSB2011_2
 Degree: -

Event

show
hide
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

Legal Case

show

Project information

show

Source 1

show
hide
Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
Source Genre: Proceedings
 Creator(s):
Amata, NM, Editor
Affiliations:
-
Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 163 - 170 Identifier: ISBN: 978-1-61284-454-1