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

doi:10.1109/IROS.2013.6697071

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 proceeding › Conference contribution › Academic › peer-review

13 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 language	English
Title of host publication	2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	4951-4957
Number of pages	7
ISBN (Electronic)	978-1-4673-6358-7
ISBN (Print)	978-1-4673-6357-0
DOIs	https://doi.org/10.1109/IROS.2013.6697071
Publication status	Published - Nov 2013
Event	2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 - Tokyo, Japan Duration: 3 Nov 2013 → 7 Nov 2013 http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2013/www.iros2013.org/index.html

Publication series

Name	Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	IEEE
Volume	2013
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013
Abbreviated title	IROS
Country/Territory	Japan
City	Tokyo
Period	3/11/13 → 7/11/13
Internet address	http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2013/www.iros2013.org/index.html

Access to Document

10.1109/IROS.2013.6697071

Cite this

Mersha, A. Y., Hou, X., Mahony, R., Stramigioli, S., Corke, P., & Carloni, R. (2013). Intercontinental haptic teleoperation of a flying vehicle: A step towards real-time applications. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4951-4957). (Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems; Vol. 2013). IEEE. https://doi.org/10.1109/IROS.2013.6697071

@inproceedings{4f2cdf7373ee49c4bb86affae640950a,

title = "Intercontinental haptic teleoperation of a flying vehicle: A step towards real-time applications",

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.",

author = "Mersha, \{Abeje Y.\} and Xiaolei Hou and Robert Mahony and Stefano Stramigioli and Peter Corke and Raffaella Carloni",

year = "2013",

month = nov,

doi = "10.1109/IROS.2013.6697071",

language = "English",

isbn = "978-1-4673-6357-0",

series = "Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

pages = "4951--4957",

booktitle = "2013 IEEE/RSJ International Conference on Intelligent Robots and Systems",

address = "United States",

note = "2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, IROS ; Conference date: 03-11-2013 Through 07-11-2013",

url = "http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2013/www.iros2013.org/index.html",

}

Mersha, AY, Hou, X, Mahony, R, Stramigioli, S, Corke, P & Carloni, R 2013, Intercontinental haptic teleoperation of a flying vehicle: A step towards real-time applications. in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2013, IEEE, Piscataway, NJ, pp. 4951-4957, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, Tokyo, Japan, 3/11/13. https://doi.org/10.1109/IROS.2013.6697071

Intercontinental haptic teleoperation of a flying vehicle: A step towards real-time applications. / Mersha, Abeje Y.; Hou, Xiaolei; Mahony, Robert et al.
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ: IEEE, 2013. p. 4951-4957 (Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems; Vol. 2013).

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

TY - GEN

T1 - Intercontinental haptic teleoperation of a flying vehicle

T2 - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013

AU - Mersha, Abeje Y.

AU - Hou, Xiaolei

AU - Mahony, Robert

AU - Stramigioli, Stefano

AU - Corke, Peter

AU - Carloni, Raffaella

PY - 2013/11

Y1 - 2013/11

N2 - 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.

AB - 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.

U2 - 10.1109/IROS.2013.6697071

DO - 10.1109/IROS.2013.6697071

M3 - Conference contribution

SN - 978-1-4673-6357-0

T3 - Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems

SP - 4951

EP - 4957

BT - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - IEEE

CY - Piscataway, NJ

Y2 - 3 November 2013 through 7 November 2013

ER -

Mersha AY, Hou X, Mahony R, Stramigioli S, Corke P, Carloni R. Intercontinental haptic teleoperation of a flying vehicle: A step towards real-time applications. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ: IEEE. 2013. p. 4951-4957. (Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2013.6697071

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

Abstract

Publication series

Conference

Access to Document

Fingerprint

Cite this