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  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 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011) (pp. 163-170). Piscataway, NJ, USA: IEEE.

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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-BA48-1 Version Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-BA49-0
Genre: Conference Paper

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 Creators:
Robuffo Giordano, P1, Author           
Franchi, A1, Author           
Secchi, C, Author
Bülthoff, HH1, Author           
Amato, N.M., Editor
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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 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.

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 Dates: 2011-09
 Publication Status: Issued
 Pages: -
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 Table of Contents: -
 Rev. Type: -
 Identifiers: ISBN: 978-1-61284-454-1
URI: http://www.iros2011.org/
DOI: 10.1109/IROS.2011.6094895
BibTex Citekey: RobuffoGiordanoFSB2011_2
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
Place of Event: San Francisco, CA, USA
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 163 - 170 Identifier: -