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  Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control

Franchi, A., Masone, C., Bülthoff, H., & Robuffo Giordano, P. (2011). Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011) (pp. 2215-2222). Piscataway, NJ, USA: IEEE.

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Datensatz-Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-BA40-2 Versions-Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-BA41-F
Genre: Konferenzbeitrag

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 Urheber:
Franchi, A1, Autor           
Masone, C1, Autor           
Bülthoff, HH1, Autor           
Robuffo Giordano, P1, Autor           
Amato, N.M., Herausgeber
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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 Zusammenfassung: We present a decentralized system for the bilateral teleoperation of groups of UAVs which only relies on relative bearing measurements, i.e., without the need of distance information or global localization. The properties of a 3D bearing-formation are analyzed, and a minimal set of bearings needed for its definition is provided. We also design a novel decentralized formation control almost globally convergent and able to maintain bounded and non-vanishing inter-distances among the agents despite the absence of direct distance measurements. Furthermore, we develop a multi-master/ multi-slave teleoperation setup in order to control the overall behavior of the group and to convey to the human operator suitable force cues, while ensuring stability in presence of delays and packet losses over the master-slave communication channel. The theoretical framework is validated by means of extensive human/hardware in-the-loop simulations using two force-feedback devices and a group of quadrotors.

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Sprache(n):
 Datum: 2011-09
 Publikationsstatus: Erschienen
 Seiten: -
 Ort, Verlag, Ausgabe: -
 Inhaltsverzeichnis: -
 Art der Begutachtung: -
 Identifikatoren: ISBN: 978-1-61284-454-1
URI: http://www.iros2011.org/
DOI: 10.1109/IROS.2011.6094525
BibTex Citekey: FranchiMBR2011
 Art des Abschluß: -

Veranstaltung

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Titel: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
Veranstaltungsort: San Francisco, CA, USA
Start-/Enddatum: -

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Titel: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
Genre der Quelle: Konferenzband
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Piscataway, NJ, USA : IEEE
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 2215 - 2222 Identifikator: -