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  A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology

Franchi, A., Robuffo Giordano, P., Secchi, C., Son, H., & Bülthoff, H. (2011). A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology. In IEEE International Conference on Robotics and Automation (ICRA 2011) (pp. 898-905). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-BBC0-9 Version Permalink: http://hdl.handle.net/21.11116/0000-0002-0B2F-F
Genre: Conference Paper

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 Creators:
Franchi, A1, 2, Author              
Robuffo Giordano, P1, 2, Author              
Secchi, C, Author
Son, HI1, 2, 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, a novel distributed control strategy for teleoperating a fleet of Unmanned Aerial Vehicles (UAVs) is proposed. Using passivity based techniques, we allow the behavior of the UAVs to be as flexible as possible with arbitrary split and join decisions while guaranteeing stability of the system. Furthermore, the overall teleoperation system is also made passive and, therefore, characterized by a stable behavior both in free motion and when interacting with unknown passive obstacles. The performance of the system is validated through semi-experiments.

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 Dates: 2011-05
 Publication Status: Published in print
 Pages: -
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 Table of Contents: -
 Rev. Method: -
 Identifiers: DOI: 10.1109/ICRA.2011.5980368
BibTex Citekey: FranchiRSSB2011
 Degree: -

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Title: IEEE International Conference on Robotics and Automation (ICRA 2011)
Place of Event: Shanghai, China
Start-/End Date: 2011-05-09 - 2011-05-13

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Title: IEEE International Conference on Robotics and Automation (ICRA 2011)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 898 - 905 Identifier: ISBN: 978-1-61284-386-5