@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} }