Bilateral teleoperation of underactuated unmanned aerial vehicles: The virtual slave concept

A.Y. Mersha, Stefano Stramigioli, Raffaella Carloni

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

    16 Citations (Scopus)


    In this paper, we present haptic teleoperation of underactuated unmanned aerial vehicles by providing a multidimensional generalization of the virtual slave concept. The proposed control architecture is composed of high-level and low-level controllers. The high-level controller commands the vehicle to accomplish specific tasks and renders both the state and the environment of the vehicle to the operator through haptic feedback. The low-level controller interprets the command signals from the operator, regulates the dynamics of the vehicle and feeds back its state to the high-level loop. Passivity of the teleoperation loop is always ensured independently of the choice of implementation of the low-level controller and the configuration of the flying hardware by a passivity-enforcing supervisor, which associates every action of the slave with an energy expense that can only be made available from a multi-state energy tank. The effectiveness of the proposed algorithm is illustrated with simulations and experimental tests.
    Original languageUndefined
    Title of host publicationProceedings of the International Conference on Robotics and Automation
    Place of PublicationUSA
    Number of pages7
    ISBN (Print)1050-4729
    Publication statusPublished - May 2012
    Event2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - St. Paul, United States
    Duration: 14 May 201218 May 2012


    Conference2012 IEEE International Conference on Robotics and Automation, ICRA 2012
    Abbreviated titleICRA
    Country/TerritoryUnited States
    CitySt. Paul


    • EWI-22031
    • METIS-287922

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