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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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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-BBC0-9 Version Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-BBC1-7
Genre: Conference Paper

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 Creators:
Franchi, A1, Author           
Robuffo Giordano, P1, Author           
Secchi C, Son, HI1, Author           
Bülthoff, HH1, 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, 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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 Dates: 2011-05
 Publication Status: Issued
 Pages: -
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 Table of Contents: -
 Rev. Type: -
 Identifiers: ISBN: 978-1-61284-386-5
URI: http://www.icra2011.org/
DOI: 10.1109/ICRA.2011.5980368
BibTex Citekey: FranchiRSSB2011
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Title: IEEE International Conference on Robotics and Automation (ICRA 2011)
Place of Event: Shanghai, China
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Title: IEEE International Conference on Robotics and Automation (ICRA 2011)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 898 - 905 Identifier: -