|Title||Bilateral Teleoperation of a Group of UAVs with Communication Delays and Switching Topology|
|Publication Type||Conference Paper|
|Year of Publication||2012|
|Authors||Secchi, C, Franchi, A, Bülthoff, HH, Robuffo Giordano, P|
|Conference Name||2012 IEEE Int. Conf. on Robotics and Automation|
|Conference Location||St. Paul, MN|
|Keywords||Bilateral Shared Control of Mobile Robots, Decentralized control, Distributed algorithms, Force feedback, Motion control of multiple robots, Multi-robot systems, Teleoperation|
In this paper, we present a passivity-based decentralized approach for bilaterally teleoperating a group of UAVs composing the slave side of the teleoperation system. In particular, we explicitly consider the presence of time delays, both among the master and slave, and within UAVs composing the group. Our focus is on analyzing suitable (passive) strategies that allow a stable teloperation of the group despite presence of delays, while still ensuring high flexibility to the group topology (e.g., possibility to autonomously split or join during the motion). The performance and soundness of the approach is validated by means of human/hardware-in-the-loop simulations (HHIL).