ICRA 2011 Paper Abstract


Paper TuP105.4

Lee, Dongjun (University of Tennessee-Knoxville), Franchi, Antonio (Max Planck Institute for Biological Cybernetics), Robuffo Giordano, Paolo (Max Planck Institute for Biological Cybernetics), Son, Hyoung Il (Max Planck Institute for Biological Cybernetics), Buelthoff, Heinrich H. (Max Planck Institute for Biol. Cybernetics)

Haptic Teleoperation of Multiple Unmanned Aerial Vehicles Over the Internet

Scheduled for presentation during the Regular Sessions "Teleoperation II" (TuP105), Tuesday, May 10, 2011, 14:25−14:40, Room 3G

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Teleoperation, Distributed Robot Systems, Aerial Robotics


We propose a novel haptic teleoperation control framework for multiple unmanned aerial vehicles (UAVs) over the Internet, consisting of the three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic virtual point (VP); 2) VP control layer, which modulates each VP's motion according to the teleoperation commands and local artificial potentials (for inter-VP/VP-obstacle collision avoidance and inter-VP connectivity preservation); and 3) teleoperation layer, through which a remote human user can command all (or some) of the VPs' velocity while haptically perceiving the state of all (or some) of the UAVs over the Internet. Master-passivity/slave-stability and some asymptotic performance measures are proved. Semi-experiment results are presented to validate the theory.



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