@conference {2014c-MasRobBueFra,
	title = {Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic Shared Control},
	booktitle = {2014 IEEE Int. Conf. on Robotics and Automation},
	year = {2014},
	month = {05/2014},
	pages = {6468-6475},
	address = {Hong Kong, China},
	abstract = {A new framework for semi-autonomous path plan- ning for mobile robots that extends the classical paradigm of bilateral shared control is presented. The path is represented as a B-spline and the human operator can modify its shape by controlling the motion of a finite number of control points. An autonomous algorithm corrects in real time the human directives in order to facilitate path tracking for the mobile robot and ensures i) collision avoidance, ii) path regularity, and iii) attraction to nearby points of interest. A haptic feedback algorithm processes both human{\textquoteright}s and autonomous control terms, and their integrals, to provide an information of the mismatch between the path specified by the operator and the one corrected by the autonomous algorithm. The framework is validated with extensive experiments using a quadrotor UAV and a human in the loop with two haptic interfaces.
},
	keywords = {Bilateral Shared Control of Mobile Robots},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2014c-MasRobBueFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2014c-MasRobBueFra.mp4},
	author = {Carlo Masone and Paolo Robuffo Giordano and Heinrich H. B{\"u}lthoff and Antonio Franchi}
}
@conference {2013d-SecFraBueRob,
	title = {Bilateral Control of the Degree of Connectivity in Multiple Mobile-robot Teleoperation},
	booktitle = {2013 IEEE Int. Conf. on Robotics and Automation},
	year = {2013},
	month = {05/2013},
	address = {Karlsruhe, Germany},
	abstract = {This paper presents a novel bilateral controller that allows to stably teleoperate the degree of connectivity in the mutual interaction between a remote group of mobile robots considered as the slave-side.
A distributed leader-follower scheme allows the human operator to command the overall group motion. The group autonomously maintains the connectivity of the interaction graph by using a decentralized gradient descent approach applied to the Fiedler eigenvalue of a properly weighted Laplacian matrix. 
The degree of connectivity, and then the flexibility, of the interaction graph can be finely tuned by the human operator through an additional bilateral teleoperation channel. Passivity of the overall system is theoretically proven and  extensive human/hardware in-the-loop simulations are presented to empirically validate the theoretical analysis.},
	keywords = {Bilateral Shared Control of Mobile Robots, Connectivity maintenance},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2013d-SecFraBueRob.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2013d-SecFraBueRob.mp4},
	author = {Cristian Secchi and Antonio Franchi and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@article {2013l-RobFraSecBue,
	title = {A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance},
	journal = {The International Journal of Robotics Research},
	volume = {32},
	year = {2013},
	month = {03/2013},
	pages = { 299-323},
	abstract = {The design of decentralized controllers coping with the typical constraints on the inter-robot sensing/communication capabilities represents a promising direction in multi-robot research thanks to the inherent scalability and fault tolerance of these approaches. In these cases, connectivity of the underlying interaction graph plays a fundamental role: it represents a necessary condition for allowing a group or robots achieving a common task by resorting to only local information. Goal of this paper is to present a novel decentralized strategy able to enforce connectivity maintenance for a group of robots in a flexible way, that is, by granting large freedom to the group internal configuration so as to allow establishment/deletion of interaction links at anytime as long as global connectivity is preserved. A peculiar feature of our approach is that we are able to embed into a unique connectivity preserving action a large number of constraints and requirements for the group: (i) presence of specific inter-robot sensing/communication models, (ii) group requirements such as formation control, and (iii) individual requirements such as collision avoidance. This is achieved by defining a suitable global potential function of the second smallest eigenvalue λ2 of the graph Laplacian, and by computing, in a decentralized way, a gradient-like controller built on top of this potential. Simulation results obtained with a group of quadorotor UAVs and UGVs, and experimental results obtained with four quadrotor UAVs, are finally presented to thoroughly illustrate the features of our approach on a concrete case study.},
	keywords = {Bilateral Shared Control of Mobile Robots, Connectivity maintenance, Motion control of multiple robots},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2013l-RobFraSecBue-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/IJRRConn_MM_1_LQ.mp4},
	author = {Paolo Robuffo Giordano and Antonio Franchi and Cristian Secchi and Heinrich H. B{\"u}lthoff}
}
@article {2013b-LeeFraSonBueRob,
	title = {Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles},
	journal = {IEEE/ASME Transaction on Mechatronics, Focused Section on Aerospace Mechatronics},
	volume = {18},
	year = {2013},
	month = {08/2013},
	pages = {1334-1345},
	abstract = {We propose a novel semi-autonomous haptic teleoperation control architecture for multiple unmanned aerial vehicles (UAVs), consisting of three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow
the trajectory of, its own kinematic Cartesian virtual point (VP); 2) VP control layer, which modulates each VP{\textquoteright}s motion according to the teleoperation commands and local artificial potentials (for VP-VP/VP-obstacle collision avoidance and VP-VP connectivity preservation); and 3) teleoperation layer, through which a single 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 and obstacles. Master-passivity/slave-stability and some asymptotic performance measures are proved. Experimental results using four custom-built quadrotor-type UAVs are also presented to illustrate the theory.},
	keywords = {Bilateral Shared Control of Mobile Robots, Motion control of multiple robots, UAV hardware platforms},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2013b-LeeFraSonBueRob.pdf},
	author = {Dongjun Lee and Antonio Franchi and Hyoung Il Son and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@conference {2012b-SecFraBueRob,
	title = {Bilateral Teleoperation of a Group of UAVs with Communication Delays and Switching Topology},
	booktitle = {2012 IEEE Int. Conf. on Robotics and Automation},
	year = {2012},
	month = {05/2012},
	address = {St. Paul, MN},
	abstract = {In this paper, we present a passivity-based decentralized approach for bilaterally teleoperating a group of UAVs composing the slave side of the teleoperation system. In particular, we explicitly consider the presence of time delays, both among the master and slave, and within UAVs composing the group. Our focus is on analyzing suitable (passive) strategies that allow a stable teloperation of the group despite presence of delays, while still ensuring high flexibility to the group topology (e.g., possibility to autonomously split or join during the motion). The performance and soundness of the approach is validated by means of human/hardware-in-the-loop simulations (HHIL).},
	keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Distributed algorithms, Force feedback, Motion control of multiple robots, Multi-robot systems, Teleoperation},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012d-SecFraBueRob.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012d-SecFraBueRob.mp4},
	author = {Cristian Secchi and Antonio Franchi and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@article {2012e-FraSecSonBueRob,
	title = {Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology},
	journal = {IEEE Transaction on Robotics},
	volume = {28},
	year = {2012},
	month = {10/2012},
	pages = {1019	-1033},
	abstract = {In this paper, a novel decentralized control strategy for bilaterally teleoperating heterogeneous groups of mobile robots from different domains (aerial, ground, marine and under- water) is proposed. By using a decentralized control architecture, the group of robots, treated as the slave-side, is made able to navigate in a cluttered environment while avoiding obstacles, inter-robot collisions and following the human motion commands. Simultaneously, the human operator acting on the master side is provided with a suitable force feedback informative of the group response and of the interaction with the surrounding environment. Using passivity based techniques, we allow the behavior of the group to be as flexible as possible with arbitrary split and join events (e.g., due to inter-robot visibility/packet losses or specific task requirements) while guaranteeing the stability of the system. We provide a rigorous analysis of the system stability and steady-state characteristics, and validate performance through human/hardware-in-the-tloop simulations by considering a heterogeneous fleet of UAVs and UGVs as case study. Finally, we also provide an experimental validation with 4 quadrotor UAV},
	keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Distributed algorithms, Force feedback, Haptics, Motion control of multiple robots, Multi-robot systems, Teleoperation},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012e-FraSecSonBueRob.pdf},
	author = {Antonio Franchi and Cristian Secchi and Hyoung Il Son and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@conference {2012h-RieFraRobBueSon,
	title = {Experiments on Intercontinental Haptic Control of Multiple UAVs},
	booktitle = {12th Int. Conf. on Intelligent Autonomous Systems},
	year = {2012},
	month = {06/2012},
	pages = {227-238},
	address = {Jeju Island, Korea},
	abstract = {In this paper we propose and experimentally validate a bilateral teleoperation framework where a group of UAVs are controlled over an unreliable network with typical intercontinental time delays and packet losses. This setting is meant to represent a realistic and challenging situation for the stability the bilateral closed-loop system.
In order to increase human telepresence, the system provides the operator with both a video stream coming from the onboard cameras mounted on the UAVs, and with a suitable haptic cue, generated by a force-feedback device, informative of the UAV tracking performance and presence of impediments on the remote site.

In addition to the theoretical background, we describe the hardware and software implementation of this intercontinental teleoperation: this is composed of a semi-autonomous group of multiple quadrotor UAVs, a 3-DOF haptic interface, and a network connection based on a VPN tunnel between Germany and South Korea. The whole software framework is based upon the Robotic Operating System (ROS) communication standard.},
	keywords = {Bilateral Shared Control of Mobile Robots, Haptics, Middleware for robotics, Multi-robot systems, Teleoperation, UAV hardware platforms},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012h-RieFraRobBueSon.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012h-RieFraRobBueSon.mp4},
	author = {Martin Riedel and Antonio Franchi and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano and Hyoung Il Son}
}
@conference {2012k-MasFraBueRob,
	title = {Interactive Planning of Persistent Trajectories for Human-Assisted Navigation of Mobile Robots},
	booktitle = {2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
	year = {2012},
	month = {10/2012},
	pages = {2641-2648},
	address = {Vilamoura, Portugal},
	abstract = {This work extends the framework of bilateral shared control of mobile robots with the aim of increasing the robot autonomy and decreasing the operator commitment. We consider persistent autonomous behaviors where a cyclic motion must be executed by the robot. The human operator is in charge of modifying online some geometric properties of the desired path. This is then autonomously processed by the robot in order to produce an actual path guaranteeing: i) tracking feasibility, ii) collision avoidance with obstacles, iii) closeness to the desired path set by the human operator, and iv) proximity to some points of interest. A force feedback is implemented to inform the human operator of the global deformation of the pathrather than using the classical mismatch between desired and executed motion commands. Physically-based simulations, with human/hardware-in-the-loop and a quadrotor UAV as robotic platform, demonstrate the feasibility of the method. },
	keywords = {Bilateral Shared Control of Mobile Robots, Force feedback, Haptics, Motion Planning, Optimal Trajectory Planning, Teleoperation},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012k-MasFraBueRob.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012k-MasFraBueRob.mp4},
	author = {Carlo Masone and Antonio Franchi and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@booklet {2012q-RieFraBueRob,
	title = {Intercontinental Haptic Control and Advanced Supervisory Interfaces for Groups of Multiple UAVs},
	howpublished = {5th Int. Work. on Human-Friendly Robotics},
	year = {2012},
	month = {10/2012},
	address = {Bruxelles, Belgium},
	keywords = {Bilateral Shared Control of Mobile Robots, Middleware for robotics, Motion control of multiple robots, UAV hardware platforms},
	author = {Martin Riedel and Heinrich H. B{\"u}lthoff and Antonio Franchi and Paolo Robuffo Giordano}
}
@article {2012q-FraMasGraRylBueRob,
	title = {Modeling and Control of UAV Bearing-Formations with Bilateral High-Level Steering},
	journal = {The International Journal of Robotics Research, Special Issue on 3D Exploration, Mapping, and Surveillance},
	volume = {31},
	year = {2012},
	month = {10/2012},
	pages = {1504-1525},
	abstract = {In this paper we address the problem of controlling the motion of a group of UAVs bound to keep a formation defined in terms of only relative angles (i.e., a bearing-formation). This problem can naturally arise within the context of several multi-robot applications such as, e.g., exploration, coverage, and surveillance. First, we introduce and thoroughly analyze the concept and properties of bearing-formations, and provide a class of minimally linear sets of bearings sufficient to uniquely define such formations. We then propose a bearing-only formation controller requiring only bearing measurements, converging almost globally, and maintaining bounded inter-agent distances despite the lack of direct metric information. The controller still leaves the possibility to impose group motions tangent to the current bearing-formation. These can be either autonomously chosen by the robots because of any additional task (e.g., exploration), or exploited by an assisting human co-operator. For this latter {\textquoteleft}human-in-the-loop{\textquoteright} case, we propose a multi-master/multi-slave bilateral shared control system providing the co-operator with some suitable force cues informative of the UAV performance. The proposed theoretical framework is extensively validated by means of simulations
and experiments with quadrotor UAVs equipped with onboard cameras. Practical limitations, e.g., limited field-of-view, are also considered.},
	keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Force feedback, Formation control, Haptics, Motion control of multiple robots, Multi-robot systems, Teleoperation},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012q-FraMasGraRylBueRob-preprint.pdf},
	author = {Antonio Franchi and Carlo Masone and Volker Grabe and Markus Ryll and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@article {2012f-FraSecRylBueRob,
	title = {Shared Control: Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs.},
	journal = {IEEE Robotics and Automation Magazine, Special Issue on Aerial Robotics and the Quadrotor Platform},
	volume = {19},
	year = {2012},
	month = {09/2012},
	pages = {57-68},
	abstract = {In this paper, we present a complete control framework and associated experimental testbed for the bilateral shared control of a group of quadrotor UAVs. This control architecture is applicable to any task and allows to integrate: i) a decentralized topological motion control (responsible for the mutual interactions in the UAV formation), ii) a human assistance module (allowing human intervention, whenever needed, on some aspects of the UAV group behavior), and iii) a force-feedback possibility (increasing the telepresence of the human assistants by providing suitable haptic cues informative of the UAV behavior). 
We will show, as worked-out case studies, how to specialize the topological motion controller to the relevant cases of constant, unconstrained and connected group topologies, and how to let a human operator intervening at the level of single UAVs or of the whole group dynamics.
A detailed description of the experimental testbed is also provided with emphasis on the quadrotor UAV hardware and software architectures. Finally, the versatility of the proposed framework is demonstrated by means of experiments with real UAVs. Although quadrotors are used as actual robotic platforms, the proposed framework can be straightforwardly extended to many different kinds of UAVs with similar motion characteristics.},
	keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Force feedback, Formation control, Haptics, Middleware for robotics, Motion control of multiple robots, Multi-robot systems, UAV hardware platforms},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012f-FraSecRylBueRob-preprint.pdf},
	author = {Antonio Franchi and Cristian Secchi and Markus Ryll and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@booklet {2012p-MasFraBueRob,
	title = {Shared Trajectory Planning for Human-in-the-loop Navigation of Mobile Robots in Cluttered Environments},
	howpublished = {5th Int. Work. on Human-Friendly Robotics},
	year = {2012},
	month = {10/2012},
	address = {Bruxelles, Belgium},
	keywords = {Bilateral Shared Control of Mobile Robots, Optimal Trajectory Planning},
	author = {Carlo Masone and Antonio Franchi and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@conference {2011e-RobFraSecBue,
	title = {Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance},
	booktitle = {2011 Robotics: Science and Systems Conference},
	year = {2011},
	month = {06/2011},
	address = {Los Angeles, CA},
	abstract = {In this paper, we present a decentralized passivity-based control strategy for the bilateral teleoperation of a fleet of Unmanned Aerial Vehicles (UAVs). The human operator at the master side can command the fleet motion and receive suitable force cues informative about the remote environment. By properly controlling the energy exchanged within the slave side (the UAV fleet), we guarantee that the connectivity of the fleet is preserved and we prevent inter-agent and obstacle collisions. At the same time, we allow the behavior of the UAVs to be as flexible as possible with arbitrary split and join maneuvers. The results of the paper are validated through semi-experiments.},
	keywords = {Bilateral Shared Control of Mobile Robots, Connectivity maintenance, Decentralized control, Distributed algorithms, Estimation, Force feedback, Haptics, Multi-robot systems, Teleoperation},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011e-RobFraSecBue-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011e-RobFraSecBue-almost_preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011e-RobFraSecBue.mp4},
	author = {Paolo Robuffo Giordano and Antonio Franchi and Cristian Secchi and Heinrich H. B{\"u}lthoff}
}
@conference {2011i-FraMasBueRob,
	title = {Bilateral Teleoperation of Multiple UAVs with Decentralized Bearing-only Formation Control},
	booktitle = {2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
	year = {2011},
	month = {09/2011},
	pages = {2215-2222},
	address = {San Francisco, CA},
	abstract = {We present a decentralized system for the bilateral teleoperation of groups of UAVs which only relies
on relative bearing measurements, i.e., without the need of distance information or global localization. The properties of a 3D bearing-formation are analyzed, and a minimal set of bearings needed for its definition is provided. We also design a novel decentralized formation control almost globally convergent and able to maintain bounded and non-vanishing inter-distances among the agents despite the absence of direct distance measurements. Furthermore, we develop a multimaster/multi-slave teleoperation setup in order to control the overall behavior of the group and to convey to the human operator suitable force cues, while ensuring stability in presence of delays and packet losses over the master-slave communication channel. The theoretical framework is validated by means of extensive human/hardware in-the-loop simulations using two force-feedback devices and a group of quadrotors.},
	keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Force feedback, Formation control, Haptics, Motion control of multiple robots, Multi-robot systems, Teleoperation},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011i-FraMasBueRob-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011i-FraMasBueRob.mp4},
	author = {Antonio Franchi and Carlo Masone and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@conference {2011k-RobFraSecBue,
	title = {Experiments of Passivity-Based Bilateral Aerial Teleoperation of a Group of UAVs with Decentralized Velocity Synchronization},
	booktitle = {2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
	year = {2011},
	month = {09/2011},
	pages = {163-170},
	address = {San Francisco, CA},
	abstract = {In this paper, we present an experimental validation of a novel decentralized passivity-based control strategy for teleoperating a group of Unmanned Aerial Vehicles (UAVs): the slave side, consisting of the UAVs, is endowed with large group autonomy by allowing time-varying topology and interrobot/obstacle collision avoidance. The master side, represented by a human operator, controls the group motion and receives suitable force feedback cues informing her/him about the remote slave motion status. Passivity theory is exploited for guaranteeing stability of the slave side and of the overall teleoperation channel. Results of experiments involving the use of 4 quadcopters are reported and discussed, confirming the soundness of the paper theoretical claims.},
	keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Distributed algorithms, Force feedback, Haptics, Motion control of multiple robots, Multi-robot systems, Teleoperation},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011k-RobFraSecBue-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011k-RobFraSecBue.mp4},
	author = {Paolo Robuffo Giordano and Antonio Franchi and Cristian Secchi 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 {2011a-FraRobSecSonBue,
	title = {A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology},
	booktitle = {2011 IEEE Int. Conf. on Robotics and Automation},
	year = {2011},
	month = {05/2011},
	pages = {898-905},
	address = {Shanghai, China},
	abstract = {In this paper, a novel distributed control strategy for teleoperating a fleet of Unmanned Aerial Vehicles (UAVs) is proposed. Using passivity based techniques, we allow the behavior of the UAVs to be as flexible as possible with arbitrary split and join decisions while guaranteeing stability of the system. Furthermore, the overall teleoperation system is also made passive and, therefore, characterized by a stable behavior both in free motion and when interacting with unknown {passive} obstacles. The performance of the system is validated through semi-experiments.},
	keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Distributed algorithms, Force feedback, Haptics, Motion control of multiple robots, Multi-robot systems, Teleoperation},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011a-FraRobSecSonBue-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011a-FraRobSecSonBue-low_qlty.mp4},
	author = {Antonio Franchi and Paolo Robuffo Giordano and Cristian Secchi and Hyoung Il Son and Heinrich H. B{\"u}lthoff}
}
@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}
}
