Decentralized Bilateral Teleoperation of a Group of UAVs with Switching Topology

Submitted by Antonio Franchi on

ImageThis video shows a human operator using a haptic device to teleoperate a realistic physical simulation of a team made by 6 UAVs (quadcopters) by means of controlling the velocity of only one leader.
In the video UAVs have limited-range and line-of-sight communication and perception. From a control perspective, time varying topology is managed in a decentralized and passive way. During the overall experiment Human user receives a haptic feedback which is related to obstacles and UAV inertia.

The video shows an implementation of the teleoperation framework proposed in [1].

See also the teleoperation page for an overview on the topic.

References

  1. A. Franchi, Robuffo Giordano, P., Secchi, C., Son, H. I., and Bülthoff, H. H., “A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology”, in 2011 IEEE Int. Conf. on Robotics and Automation, Shanghai, China, 2011, pp. 898-905.