Experiments on intercontinental haptic control of multiple UAVs

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

doi:10.1007/978-3-642-33932-5_22

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 proceeding › Conference contribution › Academic › peer-review

9 Citations (Scopus)

Abstract

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 language	English
Title of host publication	Intelligent Autonomous Systems 12
Subtitle of host publication	Proceedings of the 12th International Conference IAS-12, held June 26-29, 2012, Jeju Island, Korea
Editors	Sukhan Lee, Hyungsuck Cho, Kwang-Joon Yoon, Jangmyung Lee
Place of Publication	Berlin, Heidelberg
Publisher	Springer
Pages	227-238
Number of pages	12
Volume	2
ISBN (Electronic)	978-3-642-33932-5
ISBN (Print)	978-3-642-33931-8
DOIs	https://doi.org/10.1007/978-3-642-33932-5_22
Publication status	Published - 2013
Externally published	Yes
Event	12th International Conference on Intelligent Autonomous Systems, IAS 2012 - Jeju Island, Korea, Republic of Duration: 26 Jun 2012 → 29 Jun 2012 Conference number: 12

Publication series

Name	Advances in Intelligent Systems and Computing
Publisher	Springer
Volume	194
ISSN (Print)	2194-5357
ISSN (Electronic)	2194-5365

Conference

Conference	12th International Conference on Intelligent Autonomous Systems, IAS 2012
Abbreviated title	IAS
Country/Territory	Korea, Republic of
City	Jeju Island
Period	26/06/12 → 29/06/12

Keywords

Video stream
Obstacle avoidance
Force feedback
Remote site
Haptic feedback

Access to Document

10.1007/978-3-642-33932-5_22

Cite this

Riedel, M., Franchi, A., Giordano, P. R., Bülthoff, H. H., & Son, H. I. (2013). Experiments on intercontinental haptic control of multiple UAVs. In S. Lee, H. Cho, K-J. Yoon, & J. Lee (Eds.), Intelligent Autonomous Systems 12: Proceedings of the 12th International Conference IAS-12, held June 26-29, 2012, Jeju Island, Korea (Vol. 2, pp. 227-238). (Advances in Intelligent Systems and Computing; Vol. 194). Springer. https://doi.org/10.1007/978-3-642-33932-5_22

Riedel, Martin ; Franchi, Antonio ; Giordano, Paolo Robuffo et al. / Experiments on intercontinental haptic control of multiple UAVs. Intelligent Autonomous Systems 12: Proceedings of the 12th International Conference IAS-12, held June 26-29, 2012, Jeju Island, Korea. editor / Sukhan Lee ; Hyungsuck Cho ; Kwang-Joon Yoon ; Jangmyung Lee. Vol. 2 Berlin, Heidelberg : Springer, 2013. pp. 227-238 (Advances in Intelligent Systems and Computing).

@inproceedings{f241a53938ab4326ae78f27fe65a39a0,

title = "Experiments on intercontinental haptic control of multiple UAVs",

abstract = "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.",

keywords = "Video stream, Obstacle avoidance, Force feedback, Remote site, Haptic feedback",

author = "Martin Riedel and Antonio Franchi and Giordano, {Paolo Robuffo} and B{\"u}lthoff, {Heinrich H.} and Son, {Hyoung Il}",

year = "2013",

doi = "10.1007/978-3-642-33932-5_22",

language = "English",

isbn = "978-3-642-33931-8",

volume = "2",

series = "Advances in Intelligent Systems and Computing",

publisher = "Springer",

pages = "227--238",

editor = "Sukhan Lee and Hyungsuck Cho and Kwang-Joon Yoon and Jangmyung Lee",

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Riedel, M, Franchi, A, Giordano, PR, Bülthoff, HH & Son, HI 2013, Experiments on intercontinental haptic control of multiple UAVs. in S Lee, H Cho, K-J Yoon & J Lee (eds), Intelligent Autonomous Systems 12: Proceedings of the 12th International Conference IAS-12, held June 26-29, 2012, Jeju Island, Korea. vol. 2, Advances in Intelligent Systems and Computing, vol. 194, Springer, Berlin, Heidelberg, pp. 227-238, 12th International Conference on Intelligent Autonomous Systems, IAS 2012, Jeju Island, Korea, Republic of, 26/06/12. https://doi.org/10.1007/978-3-642-33932-5_22

Experiments on intercontinental haptic control of multiple UAVs. / Riedel, Martin; Franchi, Antonio; Giordano, Paolo Robuffo et al.
Intelligent Autonomous Systems 12: Proceedings of the 12th International Conference IAS-12, held June 26-29, 2012, Jeju Island, Korea. ed. / Sukhan Lee; Hyungsuck Cho; Kwang-Joon Yoon; Jangmyung Lee. Vol. 2 Berlin, Heidelberg: Springer, 2013. p. 227-238 (Advances in Intelligent Systems and Computing; Vol. 194).

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

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AU - Riedel, Martin

AU - Franchi, Antonio

AU - Giordano, Paolo Robuffo

AU - Bülthoff, Heinrich H.

AU - Son, Hyoung Il

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N2 - 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.

AB - 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.

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PB - Springer

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T2 - 12th International Conference on Intelligent Autonomous Systems, IAS 2012

Y2 - 26 June 2012 through 29 June 2012

ER -

Riedel M, Franchi A, Giordano PR, Bülthoff HH, Son HI. Experiments on intercontinental haptic control of multiple UAVs. In Lee S, Cho H, Yoon K-J, Lee J, editors, Intelligent Autonomous Systems 12: Proceedings of the 12th International Conference IAS-12, held June 26-29, 2012, Jeju Island, Korea. Vol. 2. Berlin, Heidelberg: Springer. 2013. p. 227-238. (Advances in Intelligent Systems and Computing). doi: 10.1007/978-3-642-33932-5_22

Experiments on intercontinental haptic control of multiple UAVs

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