@conference {2011d-SonKimChuFraRobLeeBue,
	title = {An Evaluation of Haptic Cues on the Tele-Operator{\textquoteright}s Perceptual  Awareness of Multiple UAVs{\textquoteright} Environments},
	booktitle = { IEEE  World Haptics Conference},
	year = {2011},
	month = {06/2011},
	pages = {149-154},
	address = {Istanbul, Turkey},
	abstract = {The use of multiple unmanned aerial vehicles (UAVs) is increasingly being incorporated into a wide range of teleoperation applications. To date, relevant research has largely been focused on the development of appropriate control schemes. In this paper, we extend previous research by investigating how control performance could be improved by providing the teleoperator with haptic feedback cues. First, we describe a control scheme that allows a teleoperator to manipulate the flight of multiple UAVs in a remote environment. Next, we present three designs of haptic cue feedback that could increase the teleoperator{\textquoteright}s environmental awareness of such a remote environment. These cues are based on the UAVs{\textquoteright} i) velocity information, ii) proximity to obstacles, and iii) a combination of these two sources of information. Finally, we present an experimental evaluation of these haptic cue designs. Our evaluation is based on the teleoperator{\textquoteright}s perceptual sensitivity to the physical environment inhabited by the multiple UAVs. We conclude that a teleoperator{\textquoteright}s perceptual sensitivity is best served by haptic feedback cues that are based on the velocity information of multiple UAVs.},
	keywords = {Evaluation, Force feedback, Haptics, Multi-robot systems, Psychophysics, Teleoperation},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011d-SonKimChuFraRobLeeBue-preprint.pdf},
	author = {Hyoung Il Son and Junsuk Kim and Lewis L. Chuang and Antonio Franchi and Paolo Robuffo Giordano and Dongjun Lee and Heinrich H. B{\"u}lthoff}
}
@conference {2011b-LeeFraRobSonBue,
	title = {Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet},
	booktitle = { 2011 IEEE Int. Conf. on Robotics and Automation},
	year = {2011},
	month = {05/2011},
	pages = {1341-1347},
	address = {Shanghai, China},
	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{\textquoteright}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{\textquoteright} 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.},
	keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Force feedback, Formation control, Haptics, Multi-robot systems, Teleoperation},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011b-LeeFraRobSonBue-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011b-LeeFraRobSonBue-low_qlty.mp4},
	author = {Dongjun Lee and Antonio Franchi and Paolo Robuffo Giordano and Hyoung Il Son and Heinrich H. B{\"u}lthoff}
}
@conference {2011h-SonChuFraKimLeeLeeBueRob,
	title = {Measuring an Operator{\textquoteright}s Maneuverability Performance in the Haptic Teleoperation of Multiple Robots},
	booktitle = {2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
	year = {2011},
	month = {09/2011},
	pages = {3039-3046},
	address = {San Francisco, CA},
	abstract = {In this paper, we investigate the maneuverability performance of human teleoperators on multi-robots. First, we propose that maneuverability performance can be assessed by a frequency response function that jointly considers the input force of the operator and the position errors of the multi-robot system that is being maneuvered. Doing so allows us to evaluate maneuverability performance in terms of the human teleoperator{\textquoteright}s interaction with the controlled system. This allowed us to effectively determine the suitability of different haptic cue algorithms in improving teleoperation maneuverability. Performance metrics based on the human teleoperator{\textquoteright}s frequency response function indicate that maneuverability performance is best supported by a haptic feedback algorithm which is based on an obstacle avoidance force.},
	keywords = {Evaluation, Force feedback, Haptics, Multi-robot systems, Psychophysics, Teleoperation},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011h-SonChuFraKimLeeLeeBueRob-preprint.pdf},
	author = {Hyoung Il Son and Lewis L. Chuang and Antonio Franchi and Junsuk Kim and Dongjun Lee and Seong-Whan Lee and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@booklet {2010d-RobFraSonSecLeeBue,
	title = {Towards Bilateral Teleoperation of Multi-Robot Systems},
	howpublished = {3rd Int. Work. on Human-Friendly Robotics},
	year = {2010},
	month = {10/2010},
	address = {Tuebingen, Germany},
	keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Distributed algorithms, Force feedback, Haptics, Multi-robot systems, Teleoperation},
	author = {Paolo Robuffo Giordano and Antonio Franchi and Hyoung Il Son and Cristian Secchi and Dongjun Lee and Heinrich H. B{\"u}lthoff}
}
