The TeleKyb framework for a modular and extendible ROS-based quadrotor control

Volker Grabe; Martin Riedel; Heinrich H. Bulthoff; Paolo Robuffo Giordano; Antonio Franchi

doi:10.1109/ECMR.2013.6698814

The TeleKyb framework for a modular and extendible ROS-based quadrotor control

Volker Grabe, Martin Riedel, Heinrich H. Bulthoff, Paolo Robuffo Giordano, Antonio Franchi

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

45 Citations (Scopus)

Abstract

The free and open source Tele-Operation Platform of the MPI for Biological Cybernetics (TeleKyb) is an end-to-end software framework for the development of bilateral teleoperation systems between human interfaces (e.g., haptic force feedback devices or gamepads) and groups of quadrotor Unmanned Aerial Vehicles (UAVs). Among drivers for devices and robots from various hardware manufactures, TeleKyb provides a high-level closed-loop robotic controller for mobile robots that can be extended dynamically with modules for state estimation, trajectory planning, processing, and tracking. Since all internal communication is based on the Robot Operating System (ROS), TeleKyb can be easily extended to meet future needs. The capabilities of the overall framework are demonstrated in both an experimental validation of the controller for an individual quadrotor and a complex experimental setup involving bilateral human-robot interaction and shared formation control of multiple UAVs.

Original language	English
Title of host publication	2013 European Conference on Mobile Robots, ECMR 2013
Subtitle of host publication	Conference Proceedings
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	19-25
Number of pages	7
ISBN (Electronic)	978-1-4799-0263-7
DOIs	https://doi.org/10.1109/ECMR.2013.6698814
Publication status	Published - 2013
Externally published	Yes
Event	6th European Conference on Mobile Robots, ECMR 2013 - Barcelona, Spain Duration: 25 Sep 2013 → 27 Sep 2013 Conference number: 6

Conference

Conference	6th European Conference on Mobile Robots, ECMR 2013
Abbreviated title	ECMR
Country/Territory	Spain
City	Barcelona
Period	25/09/13 → 27/09/13

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10.1109/ECMR.2013.6698814

Cite this

@inproceedings{1f924515c54e42ba80c86d187f5128f5,

title = "The TeleKyb framework for a modular and extendible ROS-based quadrotor control",

abstract = "The free and open source Tele-Operation Platform of the MPI for Biological Cybernetics (TeleKyb) is an end-to-end software framework for the development of bilateral teleoperation systems between human interfaces (e.g., haptic force feedback devices or gamepads) and groups of quadrotor Unmanned Aerial Vehicles (UAVs). Among drivers for devices and robots from various hardware manufactures, TeleKyb provides a high-level closed-loop robotic controller for mobile robots that can be extended dynamically with modules for state estimation, trajectory planning, processing, and tracking. Since all internal communication is based on the Robot Operating System (ROS), TeleKyb can be easily extended to meet future needs. The capabilities of the overall framework are demonstrated in both an experimental validation of the controller for an individual quadrotor and a complex experimental setup involving bilateral human-robot interaction and shared formation control of multiple UAVs.",

author = "Volker Grabe and Martin Riedel and Bulthoff, {Heinrich H.} and Giordano, {Paolo Robuffo} and Antonio Franchi",

year = "2013",

doi = "10.1109/ECMR.2013.6698814",

language = "English",

pages = "19--25",

booktitle = "2013 European Conference on Mobile Robots, ECMR 2013",

publisher = "IEEE",

address = "United States",

note = "6th European Conference on Mobile Robots, ECMR 2013, ECMR ; Conference date: 25-09-2013 Through 27-09-2013",

}

Grabe, V, Riedel, M, Bulthoff, HH, Giordano, PR & Franchi, A 2013, The TeleKyb framework for a modular and extendible ROS-based quadrotor control. in 2013 European Conference on Mobile Robots, ECMR 2013: Conference Proceedings., 6698814, IEEE, Piscataway, NJ, pp. 19-25, 6th European Conference on Mobile Robots, ECMR 2013, Barcelona, Spain, 25/09/13. https://doi.org/10.1109/ECMR.2013.6698814

The TeleKyb framework for a modular and extendible ROS-based quadrotor control. / Grabe, Volker; Riedel, Martin; Bulthoff, Heinrich H.; Giordano, Paolo Robuffo; Franchi, Antonio.

2013 European Conference on Mobile Robots, ECMR 2013: Conference Proceedings. Piscataway, NJ : IEEE, 2013. p. 19-25 6698814.

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

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AU - Franchi, Antonio

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AB - The free and open source Tele-Operation Platform of the MPI for Biological Cybernetics (TeleKyb) is an end-to-end software framework for the development of bilateral teleoperation systems between human interfaces (e.g., haptic force feedback devices or gamepads) and groups of quadrotor Unmanned Aerial Vehicles (UAVs). Among drivers for devices and robots from various hardware manufactures, TeleKyb provides a high-level closed-loop robotic controller for mobile robots that can be extended dynamically with modules for state estimation, trajectory planning, processing, and tracking. Since all internal communication is based on the Robot Operating System (ROS), TeleKyb can be easily extended to meet future needs. The capabilities of the overall framework are demonstrated in both an experimental validation of the controller for an individual quadrotor and a complex experimental setup involving bilateral human-robot interaction and shared formation control of multiple UAVs.

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The TeleKyb framework for a modular and extendible ROS-based quadrotor control

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