Experiments on intercontinental haptic control of multiple UAVs

Martin Riedel*, Antonio Franchi, Paolo Robuffo Giordano, Heinrich H. Bülthoff, Hyoung Il Son

*Corresponding author for this work

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

9 Citations (Scopus)


In this paper we propose and experimentally validate a bilateral teleoperation framework where a group of UAVs are controlled over an unreliable network with typical intercontinental time delays and packet losses. This setting is meant to represent a realistic and challenging situation for the stability the bilateral closed-loop system. In order to increase human telepresence, the system provides the operator with both a video stream coming from the onboard cameras mounted on the UAVs, and with a suitable haptic cue, generated by a force-feedback device, informative of the UAV tracking performance and presence of impediments on the remote site. In addition to the theoretical background, we describe the hardware and software implementation of this intercontinental teleoperation: this is composed of a semi-autonomous group of multiple quadrotor UAVs, a 3-DOF haptic interface, and a network connection based on a VPN tunnel between Germany and South Korea. The whole software framework is based upon the Robotic Operating System (ROS) communication standard.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 12
Subtitle of host publicationProceedings of the 12th International Conference IAS-12, held June 26-29, 2012, Jeju Island, Korea
EditorsSukhan Lee, Hyungsuck Cho, Kwang-Joon Yoon, Jangmyung Lee
Place of PublicationBerlin, Heidelberg
Number of pages12
ISBN (Electronic)978-3-642-33932-5
ISBN (Print)978-3-642-33931-8
Publication statusPublished - 2013
Externally publishedYes
Event12th International Conference on Intelligent Autonomous Systems, IAS 2012 - Jeju Island, Korea, Republic of
Duration: 26 Jun 201229 Jun 2012
Conference number: 12

Publication series

NameAdvances in Intelligent Systems and Computing
ISSN (Print)2194-5357
ISSN (Electronic)2194-5365


Conference12th International Conference on Intelligent Autonomous Systems, IAS 2012
Abbreviated titleIAS
Country/TerritoryKorea, Republic of
CityJeju Island


  • Video stream
  • Obstacle avoidance
  • Force feedback
  • Remote site
  • Haptic feedback


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