Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned 
Aerial Vehicles

Lee, D; Franchi, A; Son, HI; Ha, CS; Bülthoff, Heinrich H; Robuffo Giordano, P

doi:10.1109/TMECH.2013.2263963

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Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles

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Franchi, A
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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Bülthoff, Heinrich H
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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Citation

Lee, D., Franchi, A., Son, H., Ha, C., Bülthoff, H. H., & Robuffo Giordano, P. (2013). Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles. IEEE/ASME Transactions on Mechatronics, 18(4), 1334-1345. doi:10.1109/TMECH.2013.2263963.

Cite as: https://hdl.handle.net/11858/00-001M-0000-001A-136F-E

Abstract

We propose a novel semiautonomous haptic teleoperation control architecture for multiple unmanned aerial vehicles (UAVs), consisting of three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic Cartesian virtual point (VP); 2) VP control layer, which modulates each VP’s motion according to the teleoperation commands and local artificial potentials (for VP–VP/VP-obstacle collision avoidance and VP–VP connectivity preservation); and 3) teleoperation layer, through which a single remote human user can command all (or some) of the VPs’ velocity while haptically perceiving the state of all (or some) of the UAVs and obstacles. Master passivity/slave stability and some asymptotic performance measures are proved. Experimental results using four custom-built quadrotor-type UAVs are also presented to illustrate the theory.