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  The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control

Grabe, V., Riedel, M., Bülthoff, H., Robuffo Giordano, P., & Franchi, A. (2013). The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control. In 6th European Conference on Mobile Robots (ECMR 2013) (pp. 19-25). Piscataway, NJ, USA: IEEE.

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 Creators:
Grabe, V1, 2, Author              
Riedel, M1, 2, Author              
Bülthoff, HH1, 2, Author              
Robuffo Giordano, P, Author              
Franchi, A1, 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: The free and open source Tele-Operation Platform of the MPI for Biological Cybernetics (TeleKyb) is an end- to-end software framework for the development of bilateral teleoperation systems between human interfaces (e.g., haptic force feedback devices or gamepads) and groups of quadrotor Unmanned Aerial Vehicles (UAVs). Among drivers for devices and robots from various hardware manufactures, TeleKyb provides a high-level closed-loop robotic controller for mobile robots that can be extended dynamically with modules for state estimation, trajectory planning, processing, and tracking. Since all internal communication is based on the Robot Operating System (ROS), TeleKyb can be easily extended to meet future needs. The capabilities of the overall framework are demonstrated in both an experimental validation of the controller for an individual quadrotor and a complex experimental setup involving bilateral human-robot interaction and shared formation control of multiple UAVs.

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 Dates: 2013-09
 Publication Status: Published in print
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 Identifiers: DOI: 10.1109/ECMR.2013.6698814
BibTex Citekey: GrabeRBRF2013
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Title: 6th European Conference on Mobile Robots (ECMR 2013)
Place of Event: Barcelona, Spain
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Title: 6th European Conference on Mobile Robots (ECMR 2013)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 19 - 25 Identifier: ISBN: 978-1-4799-0263-7