@article {2011q-SonFraChuKimBueRob, title = {Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots}, journal = {IEEE Transactions on Systems, Man, \& Cybernetics. Part B: Cybernetics}, volume = {43}, year = {2013}, month = {04/2013}, pages = {597-609}, abstract = {In this paper, we investigate the effect of haptic cueing on human operator{\textquoteright}s performance in the field of bilateral teleoperation of multiple mobile robots, in particular multiple unmanned aerial vehicles (UAVs). Two aspects of human performance are deemed important in this area, namely the maneuverability of mobile robots and perceptual sensitivity of the remote environment. We introduce metrics that allow us to address these aspects in two psychophysical studies, which are reported here. Three fundamental haptic cue types were evaluated. The Force cue conveys information on the proximity of the commanded trajectory to obstacles in the remote environment. The Velocity cue represents the mismatch between the commanded and actual velocity of the UAVs and can implicitly provide a rich amount of information regarding the actual behavior of the UAVs. Finally, the Velocity+Force cue is a linear combination of the two. Our experimental results show that while maneuverability is best supported by the Force cue feedback, perceptual sensitivity is best served by the Velocity cue feedback. In addition, we show that large gains in the haptic feedbacks do not always guarantee an enhancement in teleoperator{\textquoteright}s performance.}, keywords = {Evaluation, Force feedback, Haptics, Multi-robot systems, Psychophysical evaluation of haptic feedback, Psychophysics, Teleoperation}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2013a-SonFraChuKimBueRob_1.pdf}, author = {Hyoung Il Son and Antonio Franchi and Lewis L. Chuang and Junsuk Kim and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano} } @article {2013b-LeeFraSonBueRob, title = {Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles}, journal = {IEEE/ASME Transaction on Mechatronics, Focused Section on Aerospace Mechatronics}, volume = {18}, year = {2013}, month = {08/2013}, pages = {1334-1345}, abstract = {We propose a novel semi-autonomous haptic teleoperation control architecture for multiple unmanned aerial vehicles (UAVs), consisting of three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic Cartesian virtual point (VP); 2) VP control layer, which modulates each VP{\textquoteright}s motion according to the teleoperation commands and local artificial potentials (for VP-VP/VP-obstacle collision avoidance and VP-VP connectivity preservation); and 3) teleoperation layer, through which a single remote human user can command all (or some) of the VPs{\textquoteright} velocity while haptically perceiving the state of all (or some) of the UAVs and obstacles. Master-passivity/slave-stability and some asymptotic performance measures are proved. Experimental results using four custom-built quadrotor-type UAVs are also presented to illustrate the theory.}, keywords = {Bilateral Shared Control of Mobile Robots, Motion control of multiple robots, UAV hardware platforms}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2013b-LeeFraSonBueRob.pdf}, author = {Dongjun Lee and Antonio Franchi and Hyoung Il Son and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano} } @article {2012e-FraSecSonBueRob, title = {Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology}, journal = {IEEE Transaction on Robotics}, volume = {28}, year = {2012}, month = {10/2012}, pages = {1019 -1033}, abstract = {In this paper, a novel decentralized control strategy for bilaterally teleoperating heterogeneous groups of mobile robots from different domains (aerial, ground, marine and under- water) is proposed. By using a decentralized control architecture, the group of robots, treated as the slave-side, is made able to navigate in a cluttered environment while avoiding obstacles, inter-robot collisions and following the human motion commands. Simultaneously, the human operator acting on the master side is provided with a suitable force feedback informative of the group response and of the interaction with the surrounding environment. Using passivity based techniques, we allow the behavior of the group to be as flexible as possible with arbitrary split and join events (e.g., due to inter-robot visibility/packet losses or specific task requirements) while guaranteeing the stability of the system. We provide a rigorous analysis of the system stability and steady-state characteristics, and validate performance through human/hardware-in-the-tloop simulations by considering a heterogeneous fleet of UAVs and UGVs as case study. Finally, we also provide an experimental validation with 4 quadrotor UAV}, keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Distributed algorithms, Force feedback, Haptics, Motion control of multiple robots, Multi-robot systems, Teleoperation}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012e-FraSecSonBueRob.pdf}, author = {Antonio Franchi and Cristian Secchi and Hyoung Il Son and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano} } @conference {2012h-RieFraRobBueSon, title = {Experiments on Intercontinental Haptic Control of Multiple UAVs}, booktitle = {12th Int. Conf. on Intelligent Autonomous Systems}, year = {2012}, month = {06/2012}, pages = {227-238}, address = {Jeju Island, Korea}, abstract = {In this paper we propose and experimentally validate a bilateral teleoperation framework where a group of UAVs are controlled over an unreliable network with typical intercontinental time delays and packet losses. This setting is meant to represent a realistic and challenging situation for the stability the bilateral closed-loop system. In order to increase human telepresence, the system provides the operator with both a video stream coming from the onboard cameras mounted on the UAVs, and with a suitable haptic cue, generated by a force-feedback device, informative of the UAV tracking performance and presence of impediments on the remote site. In addition to the theoretical background, we describe the hardware and software implementation of this intercontinental teleoperation: this is composed of a semi-autonomous group of multiple quadrotor UAVs, a 3-DOF haptic interface, and a network connection based on a VPN tunnel between Germany and South Korea. The whole software framework is based upon the Robotic Operating System (ROS) communication standard.}, keywords = {Bilateral Shared Control of Mobile Robots, Haptics, Middleware for robotics, Multi-robot systems, Teleoperation, UAV hardware platforms}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012h-RieFraRobBueSon.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012h-RieFraRobBueSon.mp4}, author = {Martin Riedel and Antonio Franchi and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano and Hyoung Il Son} } @conference {2011d-SonKimChuFraRobLeeBue, title = {An Evaluation of Haptic Cues on the Tele-Operator{\textquoteright}s Perceptual Awareness of Multiple UAVs{\textquoteright} Environments}, booktitle = { IEEE – World Haptics Conference}, year = {2011}, month = {06/2011}, pages = {149-154}, address = {Istanbul, Turkey}, abstract = {The use of multiple unmanned aerial vehicles (UAVs) is increasingly being incorporated into a wide range of teleoperation applications. To date, relevant research has largely been focused on the development of appropriate control schemes. In this paper, we extend previous research by investigating how control performance could be improved by providing the teleoperator with haptic feedback cues. First, we describe a control scheme that allows a teleoperator to manipulate the flight of multiple UAVs in a remote environment. Next, we present three designs of haptic cue feedback that could increase the teleoperator{\textquoteright}s environmental awareness of such a remote environment. These cues are based on the UAVs{\textquoteright} i) velocity information, ii) proximity to obstacles, and iii) a combination of these two sources of information. Finally, we present an experimental evaluation of these haptic cue designs. Our evaluation is based on the teleoperator{\textquoteright}s perceptual sensitivity to the physical environment inhabited by the multiple UAVs. We conclude that a teleoperator{\textquoteright}s perceptual sensitivity is best served by haptic feedback cues that are based on the velocity information of multiple UAVs.}, keywords = {Evaluation, Force feedback, Haptics, Multi-robot systems, Psychophysics, Teleoperation}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011d-SonKimChuFraRobLeeBue-preprint.pdf}, author = {Hyoung Il Son and Junsuk Kim and Lewis L. Chuang and Antonio Franchi and Paolo Robuffo Giordano and Dongjun Lee and Heinrich H. B{\"u}lthoff} } @conference {2011b-LeeFraRobSonBue, title = {Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet}, booktitle = { 2011 IEEE Int. Conf. on Robotics and Automation}, year = {2011}, month = {05/2011}, pages = {1341-1347}, address = {Shanghai, China}, abstract = {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{\textquoteright}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{\textquoteright} velocity while haptically perceiving the state of all (or some) of the UAVs over the Internet. Master-passivity/slave-stability and some asymptotic performance measures are proved. Semi-experiment results are presented to validate the theory.}, keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Force feedback, Formation control, Haptics, Multi-robot systems, Teleoperation}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011b-LeeFraRobSonBue-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011b-LeeFraRobSonBue-low_qlty.mp4}, author = {Dongjun Lee and Antonio Franchi and Paolo Robuffo Giordano and Hyoung Il Son and Heinrich H. B{\"u}lthoff} } @conference {2011h-SonChuFraKimLeeLeeBueRob, title = {Measuring an Operator{\textquoteright}s Maneuverability Performance in the Haptic Teleoperation of Multiple Robots}, booktitle = {2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems}, year = {2011}, month = {09/2011}, pages = {3039-3046}, address = {San Francisco, CA}, abstract = {In this paper, we investigate the maneuverability performance of human teleoperators on multi-robots. First, we propose that maneuverability performance can be assessed by a frequency response function that jointly considers the input force of the operator and the position errors of the multi-robot system that is being maneuvered. Doing so allows us to evaluate maneuverability performance in terms of the human teleoperator{\textquoteright}s interaction with the controlled system. This allowed us to effectively determine the suitability of different haptic cue algorithms in improving teleoperation maneuverability. Performance metrics based on the human teleoperator{\textquoteright}s frequency response function indicate that maneuverability performance is best supported by a haptic feedback algorithm which is based on an obstacle avoidance force.}, keywords = {Evaluation, Force feedback, Haptics, Multi-robot systems, Psychophysics, Teleoperation}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011h-SonChuFraKimLeeLeeBueRob-preprint.pdf}, author = {Hyoung Il Son and Lewis L. Chuang and Antonio Franchi and Junsuk Kim and Dongjun Lee and Seong-Whan Lee and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano} } @conference {2011a-FraRobSecSonBue, title = {A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology}, booktitle = {2011 IEEE Int. Conf. on Robotics and Automation}, year = {2011}, month = {05/2011}, pages = {898-905}, address = {Shanghai, China}, abstract = {In this paper, a novel distributed control strategy for teleoperating a fleet of Unmanned Aerial Vehicles (UAVs) is proposed. Using passivity based techniques, we allow the behavior of the UAVs to be as flexible as possible with arbitrary split and join decisions while guaranteeing stability of the system. Furthermore, the overall teleoperation system is also made passive and, therefore, characterized by a stable behavior both in free motion and when interacting with unknown {passive} obstacles. The performance of the system is validated through semi-experiments.}, keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Distributed algorithms, Force feedback, Haptics, Motion control of multiple robots, Multi-robot systems, Teleoperation}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011a-FraRobSecSonBue-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011a-FraRobSecSonBue-low_qlty.mp4}, author = {Antonio Franchi and Paolo Robuffo Giordano and Cristian Secchi and Hyoung Il Son and Heinrich H. B{\"u}lthoff} } @booklet {2010d-RobFraSonSecLeeBue, title = {Towards Bilateral Teleoperation of Multi-Robot Systems}, howpublished = {3rd Int. Work. on Human-Friendly Robotics}, year = {2010}, month = {10/2010}, address = {Tuebingen, Germany}, keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Distributed algorithms, Force feedback, Haptics, Multi-robot systems, Teleoperation}, author = {Paolo Robuffo Giordano and Antonio Franchi and Hyoung Il Son and Cristian Secchi and Dongjun Lee and Heinrich H. B{\"u}lthoff} }