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  Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance

Robuffo Giordano, P., Franchi, A., Secchi, C., & Bülthoff, H. (2011). Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance. In H. Durrant-Whyte, N. Roy, & R. Abbeel (Eds.), Robotics: Science and Systems VII (pp. 273-280). Cambridge, MA, USA: MIT Press.

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 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              

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 Abstract: In this paper, we present a decentralized passivity-based control strategy for the bilateral teleoperation of a group of Unmanned Aerial Vehicles (UAVs). The human operator at the master side can command the group motion and receive suitable force cues informative about the remote environment. By properly controlling the energy exchanged within the slave side (the UAV group), we guarantee that the connectivity of the group is preserved and we prevent inter-agent and obstacle collisions. At the same time, we allow the behavior of the UAVs to be as flexible as possible with arbitrary split and join maneuvers. The results of the paper are validated by means of human/hardware-in-the-loop (HHIL) simulations.

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 Dates: 2011-06
 Publication Status: Published in print
 Pages: -
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 Rev. Type: -
 Identifiers: BibTex Citekey: RobuffoGiordanoFSB2011
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Title: 2011 Robotics: Science and Systems Conference
Place of Event: Los Angeles, CA, USA
Start-/End Date: 2011-06-27 - 2011-06-30

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Title: Robotics: Science and Systems VII
Source Genre: Proceedings
 Creator(s):
Durrant-Whyte, HF, Editor
Roy, N, Editor
Abbeel, R, Editor
Affiliations:
-
Publ. Info: Cambridge, MA, USA : MIT Press
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 273 - 280 Identifier: ISBN: 978-0-262-51779-9