Haptic Teleoperation of Multiple UAVs over the Internet

ImageThis video shows a human operator using a haptic device to teleoperate a realistic physical simulation of a team 8 UAVs (quadcopters) in cubic-shape formation.
In the first part of the video free space motion is shown. Later, the formation is squeezed against a wall and pushed on the edge of the wall in order to induce an automatic rotation of the formation. The video continues with more complicate maneuvers showing the flexibility of the teleoperation control, which ensures stability, obstacle avoidance, and inter-agent collision avoidance, and provides to the user a haptic feedback which is informative of obstacle presence and inertia of the UAVs.

The video shows an implementation of the teleoperation framework proposed in [1].

See also the teleoperation page for an overview on the topic.


  1. D. Lee, Franchi, A., Robuffo Giordano, P., Son, H. I., and Bülthoff, H. H., Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet, in 2011 IEEE Int. Conf. on Robotics and Automation, Shanghai, China, 2011, pp. 1341-1347.