@booklet {2011o-Fra, title = {Decentralized Bilateral Aerial Teleoperation of Multiple UAVs - Part I: a Top-Down Perspective}, howpublished = {RSS 2011 Workshop on 3D Exploration, Mapping, and Surveillance with Aerial Robots}, year = {2011}, month = {06/2011}, address = {Los Angeles, CA}, keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Force feedback, Formation control, Haptics, Multi-robot systems, Teleoperation}, author = {Antonio Franchi} }