Intercontinental haptic teleoperation of a flying vehicle: A step towards real-time applications

Abeje Y. Mersha, Xiaolei Hou, Robert Mahony, Stefano Stramigioli, Peter Corke, Raffaella Carloni

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

    11 Citations (Scopus)

    Abstract

    This paper describes the theory and practice for a stable haptic teleoperation of a flying vehicle. It extends passivity-based control framework for haptic teleoperation of aerial vehicles in the longest intercontinental setting that presents great challenges. The practicality of the control architecture has been shown in maneuvering and obstacle-avoidance tasks over the internet with the presence of significant time-varying delays and packet losses. Experimental results are presented for teleoperation of a slave quadrotor in Australia from a master station in the Netherlands. The results show that the remote operator is able to safely maneuver the flying vehicle through a structure using haptic feedback of the state of the slave and the perceived obstacles.
    Original languageEnglish
    Title of host publication2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
    Place of PublicationPiscataway, NJ
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages4951-4957
    Number of pages7
    ISBN (Electronic)978-1-4673-6358-7
    ISBN (Print)978-1-4673-6357-0
    DOIs
    Publication statusPublished - Nov 2013
    Event2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 - Tokyo, Japan
    Duration: 3 Nov 20137 Nov 2013
    http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2013/www.iros2013.org/index.html

    Publication series

    NameProceedings IEEE/RSJ International Conference on Intelligent Robots and Systems
    PublisherIEEE
    Volume2013
    ISSN (Print)2153-0858
    ISSN (Electronic)2153-0866

    Conference

    Conference2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013
    Abbreviated titleIROS
    CountryJapan
    CityTokyo
    Period3/11/137/11/13
    Internet address

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