ICRA 2011 Paper Abstract

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Paper TuA205.5

Franchi, Antonio (Max Planck Institute for Biological Cybernetics), Robuffo Giordano, Paolo (Max Planck Institute for Biological Cybernetics), Secchi, Cristian (Univ. of Modena & Reggio Emilia), Son, Hyoung Il (Max Planck Institute for Biological Cybernetics), Buelthoff, Heinrich H. (Max Planck Institute for Biol. Cybernetics)

A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology

Scheduled for presentation during the Regular Sessions "Teleoperation I" (TuA205), Tuesday, May 10, 2011, 11:05−11:20, 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 March 30, 2020

Keywords Teleoperation, Distributed Robot Systems

Abstract

In this paper, a novel distributed control strategy for teleoperating a fleet of Unmanned Aerial Vehicles (UAVs) is proposed. Using passivity based techniques, we allow the behavior of the UAVs to be as flexible as possible with arbitrary split and join decisions while guaranteeing stability of the system. Furthermore, the overall teleoperation system is also made passive and, therefore, characterized by a stable behavior both in free motion and when interacting with unknown passive obstacles. The performance of the system is validated through semi-experiments.

 

 

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