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  Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles

Lee, D., Franchi, A., Son, H., Ha, C., Bülthoff, H. H., & Robuffo Giordano, P. (2013). Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles. IEEE/ASME Transactions on Mechatronics, 18(4), 1334-1345. doi:10.1109/TMECH.2013.2263963.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-001A-136F-E Version Permalink: http://hdl.handle.net/21.11116/0000-0001-3EC1-0
Genre: Journal Article

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 Creators:
Lee, D, Author
Franchi, A1, 2, Author              
Son, HI, Author              
Ha, CS, Author
Bülthoff, Heinrich H1, 2, Author              
Robuffo Giordano, P, 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 semiautonomous haptic teleoperation control architecture for multiple unmanned aerial vehicles (UAVs), consisting of three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic Cartesian virtual point (VP); 2) VP control layer, which modulates each VP’s motion according to the teleoperation commands and local artificial potentials (for VP–VP/VP-obstacle collision avoidance and VP–VP connectivity preservation); and 3) teleoperation layer, through which a single remote human user can command all (or some) of the VPs’ velocity while haptically perceiving the state of all (or some) of the UAVs and obstacles. Master passivity/slave stability and some asymptotic performance measures are proved. Experimental results using four custom-built quadrotor-type UAVs are also presented to illustrate the theory.

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 Dates: 2013-08
 Publication Status: Published in print
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 Identifiers: DOI: 10.1109/TMECH.2013.2263963
BibTex Citekey: LeeFSHBR2013
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Title: IEEE/ASME Transactions on Mechatronics
Source Genre: Journal
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Pages: - Volume / Issue: 18 (4) Sequence Number: - Start / End Page: 1334 - 1345 Identifier: -