TY - GEN
T1 - A passivity-based decentralized approach for the bilateral teleoperation of a group of UAVs with switching topology
AU - Franchi, Antonio
AU - Giordano, Paolo Robuffo
AU - Secchi, Cristian
AU - Son, Hyoung Il
AU - Bülthoff, Heinrich H.
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84871672018&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980368
DO - 10.1109/ICRA.2011.5980368
M3 - Conference contribution
AN - SCOPUS:84871672018
SN - 978-1-61284-386-5
SN - 978-1-61284-380-3 (CD)
T3 - Proceedings - IEEE International Conference on Robotics and Automation (ICRA)
SP - 898
EP - 905
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
PB - IEEE
CY - Piscataway, NJ
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -