Bilateral teleoperation of groups of UAVs with decentralized connectivity maintenance

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

doi:10.15607/RSS.2011.VII.013

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 proceeding › Conference contribution › Academic › peer-review

7 Citations (Scopus)

22 Downloads (Pure)

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 language	English
Title of host publication	Robotics
Subtitle of host publication	Science and Systems VII
Editors	Hugh Durrant-Whyte, Pieter Abbeel, Nicholas Roy
Publisher	MIT Press
Pages	273-280
Number of pages	8
ISBN (Electronic)	9780262305969
ISBN (Print)	9780262517799
DOIs	https://doi.org/10.15607/RSS.2011.VII.013 https://doi.org/10.7551/mitpress/9481.003.0040
Publication status	Published - 2012
Externally published	Yes
Event	International Conference on Robotics Science and Systems, RSS 2011 - Los Angeles, United States Duration: 27 Jun 2011 → 1 Jul 2011

Publication series

Name	Robotics: Science and Systems
Volume	7
ISSN (Print)	2330-7668
ISSN (Electronic)	2330-765X

Conference

Conference	International Conference on Robotics Science and Systems, RSS 2011
Abbreviated title	RSS
Country/Territory	United States
City	Los Angeles
Period	27/06/11 → 1/07/11

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Giordano, P. R., Franchi, A., Secchi, C., & Bülthoff, H. H. (2012). Bilateral teleoperation of groups of UAVs with decentralized connectivity maintenance. In H. Durrant-Whyte, P. Abbeel, & N. Roy (Eds.), Robotics: Science and Systems VII (pp. 273-280). (Robotics: Science and Systems; Vol. 7). MIT Press. https://doi.org/10.15607/RSS.2011.VII.013, https://doi.org/10.7551/mitpress/9481.003.0040

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title = "Bilateral teleoperation of groups of UAVs with decentralized connectivity maintenance",

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.",

author = "Giordano, {Paolo Robuffo} and Antonio Franchi and Cristian Secchi and B{\"u}lthoff, {Heinrich H.}",

year = "2012",

doi = "10.15607/RSS.2011.VII.013",

language = "English",

isbn = "9780262517799",

series = "Robotics: Science and Systems",

publisher = "MIT Press",

pages = "273--280",

editor = "Hugh Durrant-Whyte and Pieter Abbeel and Nicholas Roy",

booktitle = "Robotics",

address = "United States",

note = "International Conference on Robotics Science and Systems, RSS 2011, RSS ; Conference date: 27-06-2011 Through 01-07-2011",

}

Giordano, PR, Franchi, A, Secchi, C & Bülthoff, HH 2012, Bilateral teleoperation of groups of UAVs with decentralized connectivity maintenance. in H Durrant-Whyte, P Abbeel & N Roy (eds), Robotics: Science and Systems VII. Robotics: Science and Systems, vol. 7, MIT Press, pp. 273-280, International Conference on Robotics Science and Systems, RSS 2011, Los Angeles, California, United States, 27/06/11. https://doi.org/10.15607/RSS.2011.VII.013, https://doi.org/10.7551/mitpress/9481.003.0040

Bilateral teleoperation of groups of UAVs with decentralized connectivity maintenance. / Giordano, Paolo Robuffo; Franchi, Antonio; Secchi, Cristian et al.
Robotics: Science and Systems VII. ed. / Hugh Durrant-Whyte; Pieter Abbeel; Nicholas Roy. MIT Press, 2012. p. 273-280 (Robotics: Science and Systems; Vol. 7).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AB - 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.

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Bilateral teleoperation of groups of UAVs with decentralized connectivity maintenance

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