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Journal Article

Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles

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/persons84227

Son,  HI
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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

Ha CS, 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

Lee, D., Franchi, A., Son, H., Ha CS, Bülthoff, 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: http://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.