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  A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology

Franchi, A., Robuffo Giordano, P., Secchi C, Son, H., & Bülthoff, H. (2011). A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology. In IEEE International Conference on Robotics and Automation (ICRA 2011) (pp. 898-905). Piscataway, NJ, USA: IEEE.

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Datensatz-Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-BBC0-9 Versions-Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-BBC1-7
Genre: Konferenzbeitrag

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 Urheber:
Franchi, A1, Autor           
Robuffo Giordano, P1, Autor           
Secchi C, Son, HI1, Autor           
Bülthoff, HH1, Autor           
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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Schlagwörter: -
 Zusammenfassung: In this paper, a novel distributed control strategy for teleoperating a fleet of Unmanned Aerial Vehicles (UAVs) is proposed. Using passivity based techniques, we allow the behavior of the UAVs to be as flexible as possible with arbitrary split and join decisions while guaranteeing stability of the system. Furthermore, the overall teleoperation system is also made passive and, therefore, characterized by a stable behavior both in free motion and when interacting with unknown passive obstacles. The performance of the system is validated through semi-experiments.

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 Datum: 2011-05
 Publikationsstatus: Erschienen
 Seiten: -
 Ort, Verlag, Ausgabe: -
 Inhaltsverzeichnis: -
 Art der Begutachtung: -
 Identifikatoren: ISBN: 978-1-61284-386-5
URI: http://www.icra2011.org/
DOI: 10.1109/ICRA.2011.5980368
BibTex Citekey: FranchiRSSB2011
 Art des Abschluß: -

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Titel: IEEE International Conference on Robotics and Automation (ICRA 2011)
Veranstaltungsort: Shanghai, China
Start-/Enddatum: -

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Titel: IEEE International Conference on Robotics and Automation (ICRA 2011)
Genre der Quelle: Konferenzband
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Piscataway, NJ, USA : IEEE
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 898 - 905 Identifikator: -