|Title||Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet|
|Publication Type||Conference Paper|
|Year of Publication||2011|
|Authors||Lee, D, Franchi, A, Robuffo Giordano, P, Son, HI, Bülthoff, HH|
|Conference Name||2011 IEEE Int. Conf. on Robotics and Automation|
|Conference Location||Shanghai, China|
|Keywords||Bilateral Shared Control of Mobile Robots, Decentralized control, Force feedback, Formation control, Haptics, Multi-robot systems, Teleoperation|
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'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' velocity while haptically perceiving the state of all (or some) of the UAVs over the Internet.