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Towards Bilateral Teleoperation of Multi-Robot Systems

MPS-Authors
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Robuffo Giordano,  P
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Franchi,  A
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Son,  HI
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Bülthoff,  HH
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Fulltext (public)

HFR-2010-Robuffo.pdf
(Any fulltext), 225KB

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Citation

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).


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-BDF2-B
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.