|Title||Experiments on Intercontinental Haptic Control of Multiple UAVs|
|Publication Type||Conference Paper|
|Year of Publication||2012|
|Authors||Riedel, M, Franchi, A, Bülthoff, HH, Robuffo Giordano, P, Son, HI|
|Conference Name||12th Int. Conf. on Intelligent Autonomous Systems|
|Conference Location||Jeju Island, Korea|
|Keywords||Bilateral Shared Control of Mobile Robots, Haptics, Middleware for robotics, Multi-robot systems, Teleoperation, UAV hardware platforms|
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 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.