Bilateral teleoperation of groups of UAVs with decentralized connectivity maintenance

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

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

7 Citations (Scopus)

Abstract

In this paper, we present a decentralized passivitybased control strategy for the bilateral teleoperation of a group of Unmanned Aerial Vehicles (UAVs). The human operator at the master side can command the group motion and receive suitable force cues informative about the remote environment. By properly controlling the energy exchanged within the slave side (the UAV group), we guarantee that the connectivity of the group is preserved and we prevent inter-agent and obstacle collisions. At the same time, we allow the behavior of the UAVs to be as flexible as possible with arbitrary split and join maneuvers. The results of the paper are validated by means of human/hardwarein- the-loop (HHIL) simulations.

Original languageEnglish
Title of host publicationRobotics
Subtitle of host publicationScience and Systems VII
EditorsHugh Durrant-Whyte, Pieter Abbeel, Nicholas Roy
PublisherMIT Press
Pages273-280
Number of pages8
ISBN (Electronic)9780262305969
ISBN (Print)9780262517799
DOIs
Publication statusPublished - 2012
Externally publishedYes
EventInternational Conference on Robotics Science and Systems, RSS 2011 - Los Angeles, United States
Duration: 27 Jun 20111 Jul 2011

Publication series

NameRobotics: Science and Systems
Volume7
ISSN (Print)2330-7668
ISSN (Electronic)2330-765X

Conference

ConferenceInternational Conference on Robotics Science and Systems, RSS 2011
Abbreviated titleRSS
CountryUnited States
CityLos Angeles
Period27/06/111/07/11

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