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Conference Paper

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

MPS-Authors
http://pubman.mpdl.mpg.de/cone/persons/resource/persons83915

Franchi,  A
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons84078

Masone,  C
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons83839

Bülthoff,  HH
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons84174

Robuffo Giordano,  P
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

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.


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-BA40-2
Abstract
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.