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  Towards Bilateral Teleoperation of Multi-Robot Systems

Robuffo Giordano, P., Franchi, A., Son, H., Secchi, C., Lee, D., & Bülthoff, H. (2010). Towards Bilateral Teleoperation of Multi-Robot Systems. In 3rd Workshop for Young Researchers on Human-Friendly Robotics (HFR 2010).

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-BDF2-B Version Permalink: http://hdl.handle.net/21.11116/0000-0003-A138-8
Genre: Meeting Abstract

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 Creators:
Robuffo Giordano, P1, 2, Author              
Franchi, A1, 2, Author              
Son, HI1, 2, Author              
Secchi, C, Author
Lee, D, 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 discuss a novel control strategy for the bilateral teleoperation of multi-robot systems, by especially focusing on the case of Unmanned aerial Vehicles (UAVs). Two control schemes are proposed: a top-down approach to maintain a desired topology of the local robots, and a bottomup approach which allows changes of topology based on local robots interactions. In both cases, passivity of overall teleoperation system is formally guaranteed. The haptic cues fed back to the operator reflect the motion status of the multirobot team and inform him about the presence of obstacles. The proposed approaches are validated through semi-experiments.

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 Dates: 2010-10
 Publication Status: Published online
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 Identifiers: BibTex Citekey: RobuffoGiordanoFSSLB2010
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Title: 3rd Workshop for Young Researchers on Human-Friendly Robotics (HFR 2010)
Place of Event: Tübingen, Germany
Start-/End Date: 2010-10-28 - 2010-10-29

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Title: 3rd Workshop for Young Researchers on Human-Friendly Robotics (HFR 2010)
Source Genre: Proceedings
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