Haptic Shared Control of a Heterogeneous Groups of Mobile Robots with Time-Varying Topology

ImageThis video shows a human operator using a haptic device to teleoperate a group of 9 physically-simulated quadrotors and 3 ground mobile robots 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 videos show the implementation of the teleoperation framework proposed in [1] and [2].

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