@inproceedings{8de5488337d14d8a8885b8292d369829,
title = "A novel approach to haptic tele-operation of aerial robot vehicles",
abstract = "We present a novel, simple and effective approach for tele-operation of aerial robotic vehicles with haptic feedback. Such feedback provides the remote pilot with an intuitive feel of the robot's state and perceived local environment that will ensure simple and safe operation in cluttered 3D environments common in inspection and surveillance tasks. Our approach is based on energetic considerations and uses the concepts of network theory and port-Hamiltonian systems. We provide a general framework for addressing problems such as mapping the limited stroke of a `master' joystick to the infinite stroke of a `slave' vehicle, while preserving passivity of the closed-loop system in the face of potential time delays in communications links and limited sensor data.",
keywords = "IR-76736, METIS-275982, communications links, closed-loop system, inspection task, surveillance task, haptic tele-operation, network theory, aerial robot vehicles, Haptic feedback, CE-Advanced Robotics, EWI-20019, Port-Hamiltonian system",
author = "Stefano Stramigioli and Robert Mahony and Peter Corke",
note = "Controlled Indexing aerospace robotics , aircraft control , closed loop systems , surveillance , telerobotics; null ; Conference date: 03-05-2010 Through 07-05-2010",
year = "2010",
month = may,
day = "3",
doi = "10.1109/ROBOT.2010.5509591",
language = "Undefined",
isbn = "978-1-4244-5038-1",
publisher = "IEEE ROBOTICS AND AUTOMATION SOCIETY",
pages = "5302--5308",
booktitle = "Robotics and Automation (ICRA), 2010 IEEE International Conference on",
}