Haptic teleoperation of multiple unmanned aerial vehicles over the internet

Dongjun Lee*, Antonio Franchi, Paolo Robuffo Giordano, Hyoung Il Son, Heinrich H. Bülthoff

*Corresponding author for this work

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

44 Citations (Scopus)

Abstract

We propose a novel haptic teleoperation control framework for multiple unmanned aerial vehicles (UAVs) over the Internet, consisting of the three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic virtual point (VP); 2) VP control layer, which modulates each VP's motion according to the teleoperation commands and local artificial potentials (for inter-VP/VP-obstacle collision avoidance and inter-VP connectivity preservation); and 3) teleoperation layer, through which a remote human user can command all (or some) of the VPs' velocity while haptically perceiving the state of all (or some) of the UAVs over the Internet. Master-passivity/slave-stability and some asymptotic performance measures are proved. Semi-experiment results are presented to validate the theory.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages1341-1347
Number of pages7
ISBN (Electronic)978-1-61284-385-8
ISBN (Print)978-1-61284-386-5, 978-1-61284-380-3 (CD)
DOIs
Publication statusPublished - 2011
Externally publishedYes
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: 9 May 201113 May 2011

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Volume2011
ISSN (Print)1050-4729
ISSN (Electronic)1050-4729

Conference

Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Abbreviated titleICRA
CountryChina
CityShanghai
Period9/05/1113/05/11

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