This 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.
See also the teleoperation page for an overview on the topic.
- , “Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology”, IEEE Transaction on Robotics, vol. 28, no. 5, pp. 1019 -1033, 2012.
- , “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.