Experiments of Decentralized Bilateral Teleoperation of a Group of UAVs with Switching Topology

Submitted by Antonio Franchi on

ImageThese videos show a human operator using a haptic device to teleoperate a group of 4 UAVs by controlling the velocity of only one leader.

In the video UAVs have limited-range and line-of-sight communication and perception. This defines an "interaction graph" whose topology can vary over time depending on the particular state of the system.

The current active interaction links are shown in the bottom-right video. The video shows an implementation of the teleoperation framework proposed in [1] and [2].

The next video shows an implementation of the teleoperation framework proposed in [3].

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.
  2. A. Franchi, Secchi, C., Son, H. I., Bülthoff, H. H., and Robuffo Giordano, P., “Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology”, IEEE Transaction on Robotics, vol. 28, no. 5, pp. 1019 -1033, 2012.
  3. P. Robuffo Giordano, Franchi, A., Secchi, C., and Bülthoff, H. H., “Experiments of Passivity-Based Bilateral Aerial Teleoperation of a Group of UAVs with Decentralized Velocity Synchronization”, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 163-170.