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  Bilateral teleoperation of a group of UAVs with communication delays and switching topology

Secchi, C., Franchi, A., Bülthoff, H., & Robuffo Giordano, P. (2012). Bilateral teleoperation of a group of UAVs with communication delays and switching topology. In IEEE International Conference on Robotics and Automation (ICRA 2012) (pp. 4307-4314). Piscataway, NJ, USA: IEEE.

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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-B780-E Version Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-B781-C
Genre: Conference Paper

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 Creators:
Secchi, C, Author
Franchi, A1, Author           
Bülthoff, HH1, Author           
Robuffo Giordano, P1, Author           
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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 Abstract: In this paper, we present a passivity-based decentralized approach for bilaterally teleoperating a group of UAVs composing the slave side of the teleoperation system. In particular, we explicitly consider the presence of time delays, both among the master and slave, and within UAVs composing the group. Our focus is on analyzing suitable (passive) strategies that allow a stable teloperation of the group despite presence of delays, while still ensuring high flexibility to the group topology (e.g., possibility to autonomously split or join during the motion). The performance and soundness of the approach is validated by means of human/hardware-in-the-loop simulations (HHIL).

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 Dates: 2012-05
 Publication Status: Issued
 Pages: -
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 Rev. Type: -
 Identifiers: URI: http://www.icra2012.org/
DOI: 10.1109/ICRA.2012.6225304
BibTex Citekey: SecchiFBP2012
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Title: IEEE International Conference on Robotics and Automation (ICRA 2012)
Place of Event: St. Paul, MN, USA
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Title: IEEE International Conference on Robotics and Automation (ICRA 2012)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 4307 - 4314 Identifier: -