A passivity-based decentralized approach for the bilateral teleoperation of a group of UAVs with switching topology

Antonio Franchi*, Paolo Robuffo Giordano, Cristian Secchi, Hyoung Il Son, Heinrich H. Bülthoff

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

47 Citations (Scopus)

Abstract

In this paper, a novel distributed control strategy for teleoperating a fleet of Unmanned Aerial Vehicles (UAVs) is proposed. Using passivity based techniques, we allow the behavior of the UAVs to be as flexible as possible with arbitrary split and join decisions while guaranteeing stability of the system. Furthermore, the overall teleoperation system is also made passive and, therefore, characterized by a stable behavior both in free motion and when interacting with unknown passive obstacles. The performance of the system is validated through semi-experiments.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages898-905
Number of pages8
ISBN (Electronic)978-1-61284-385-8
ISBN (Print)978-1-61284-386-5, 978-1-61284-380-3 (CD)
DOIs
Publication statusPublished - 2011
Externally publishedYes
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: 9 May 201113 May 2011

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Volume2011
ISSN (Print)1050-4729
ISSN (Electronic)1050-4729

Conference

Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Abbreviated titleICRA
CountryChina
CityShanghai
Period9/05/1113/05/11

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