Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet

TitleHaptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet
Publication TypeConference Paper
Year of Publication2011
AuthorsLee, D, Franchi, A, Robuffo Giordano, P, Son, HI, Bülthoff, HH
Conference Name 2011 IEEE Int. Conf. on Robotics and Automation
Date Published05/2011
Conference LocationShanghai, China
KeywordsBilateral Shared Control of Mobile Robots, Decentralized control, Force feedback, Formation control, Haptics, Multi-robot systems, Teleoperation

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'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' 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.

Citation Key2011b-LeeFraRobSonBue
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