Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles

TitleSemi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles
Publication TypeJournal Article
Year of Publication2013
AuthorsLee, D, Franchi, A, Son, HI, Bülthoff, HH, Robuffo Giordano, P
JournalIEEE/ASME Transaction on Mechatronics, Focused Section on Aerospace Mechatronics
Date Published08/2013
KeywordsBilateral Shared Control of Mobile Robots, Motion control of multiple robots, UAV hardware platforms

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’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’ 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.

Citation Key2013b-LeeFraSonBueRob
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