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Conference Paper

Decentralized Bilateral Aerial Teleoperation of Multiple UAVs – Part I: a Bottom-up Perspective

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

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http://mrsl.grasp.upenn.edu/rss2011workshop/Schedule/
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Citation

Robuffo Giordano, P. (2011). Decentralized Bilateral Aerial Teleoperation of Multiple UAVs – Part I: a Bottom-up Perspective. In RSS 2011 Workshop “3D Exploration, Mapping, and Surveillance with Aerial Robots” (pp. 1-11).


Cite as: https://hdl.handle.net/11858/00-001M-0000-0013-BB1A-1
Abstract
In this talk, we will review some recent advancements in the field of Aerial Teleoperation, i.e., how to bilaterally couple a single human operator with a remote fleet of semiautonomous UAVs which 1) must keep some spatial formation and avoid inter- and obstacle- collisions, and 2) must collectively follow the human commands. The emphasis will be placed on the modeling and control tools needed for establishing such a non-conventional bilateral channel: in particular, we will study how to render the multi-UAV “slave side” a passive system w.r.t. the environment, and how to still enforce global connectivity maintenance despite limited sensing and loss of visibility because of occlusions.