|Title||Shared Control: Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs.|
|Publication Type||Journal Article|
|Year of Publication||2012|
|Authors||Franchi, A, Secchi, C, Ryll, M, Bülthoff, HH, Robuffo Giordano, P|
|Journal||IEEE Robotics and Automation Magazine, Special Issue on Aerial Robotics and the Quadrotor Platform|
|Keywords||Bilateral Shared Control of Mobile Robots, Decentralized control, Force feedback, Formation control, Haptics, Middleware for robotics, Motion control of multiple robots, Multi-robot systems, UAV hardware platforms|
In this paper, we present a complete control framework and associated experimental testbed for the bilateral shared control of a group of quadrotor UAVs. This control architecture is applicable to any task and allows to integrate: i) a decentralized topological motion control (responsible for the mutual interactions in the UAV formation), ii) a human assistance module (allowing human intervention, whenever needed, on some aspects of the UAV group behavior), and iii) a force-feedback possibility (increasing the telepresence of the human assistants by providing suitable haptic cues informative of the UAV behavior).