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Bilateral teleoperation of a group of UAVs with communication delays and switching topology

MPG-Autoren
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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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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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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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https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6225304
(Verlagsversion)

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Zitation

Secchi, C., Franchi, A., Bülthoff, H., & Robuffo Giordano, P. (2012). Bilateral teleoperation of a group of UAVs with communication delays and switching topology. In 2012 IEEE International Conference on Robotics and Automation (pp. 4307-4314). Piscataway, NJ, USA: IEEE.


Zitierlink: https://hdl.handle.net/11858/00-001M-0000-0013-B780-E
Zusammenfassung
In this paper, we present a passivity-based decentralized approach for bilaterally teleoperating a group of UAVs composing the slave side of the teleoperation system. In particular, we explicitly consider the presence of time delays, both among the master and slave, and within UAVs composing the group. Our focus is on analyzing suitable (passive) strategies that allow a stable teloperation of the group despite presence of delays, while still ensuring high flexibility to the group topology (e.g., possibility to autonomously split or join during the motion). The performance and soundness of the approach is validated by means of human/hardware-in-the-loop simulations (HHIL).