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

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

*Corresponding author for this work

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

39 Citations (Scopus)

Abstract

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).

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages4307-4314
Number of pages8
ISBN (Electronic)978-1-4673-1405-3, 978-1-4673-1404-6
ISBN (Print)978-1-4673-1403-9, 9978-1-4673-1404-6
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - St. Paul, United States
Duration: 14 May 201218 May 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Volume2012
ISSN (Print)1050-4729

Conference

Conference2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Abbreviated titleICRA
CountryUnited States
CitySt. Paul
Period14/05/1218/05/12

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