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  Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet

Lee, D., Franchi, A., Robuffo Giordano, P., Son, H., & Bülthoff, H. (2011). Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet. In IEEE International Conference on Robotics and Automation (ICRA 2011) (pp. 1341-1347). Piscataway, NJ, USA: IEEE.

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Lee, D, Author
Franchi, A1, 2, Author           
Robuffo Giordano, P1, 2, 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: We propose a novel haptic teleoperation control framework for multiple unmanned aerial vehicles (UAVs) over the Internet, consisting of the three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic virtual point (VP); 2) VP control layer, which modulates each VP's motion according to the teleoperation commands and local artificial potentials (for inter-VP/VP-obstacle collision avoidance and inter-VP connectivity preservation); and 3) teleoperation layer, through which a remote human user can command all (or some) of the VPs' velocity while haptically perceiving the state of all (or some) of the UAVs over the Internet. Master-passivity/slave-stability and some asymptotic performance measures are proved. Semi-experiment results are presented to validate the theory.

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 Dates: 2011-05
 Publication Status: Published in print
 Pages: -
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 Identifiers: DOI: 10.1109/ICRA.2011.5979993
BibTex Citekey: LeeFRSB2011
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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: 1341 - 1347 Identifier: ISBN: 978-1-61284-386-5