In this paper, we present a decentralized passivitybased control strategy for the bilateral teleoperation of a group of Unmanned Aerial Vehicles (UAVs). The human operator at the master side can command the group motion and receive suitable force cues informative about the remote environment. By properly controlling the energy exchanged within the slave side (the UAV group), we guarantee that the connectivity of the group is preserved and we prevent inter-agent and obstacle collisions. At the same time, we allow the behavior of the UAVs to be as flexible as possible with arbitrary split and join maneuvers. The results of the paper are validated by means of human/hardwarein- the-loop (HHIL) simulations.
Bilateral teleoperation of groups of UAVs with decentralized connectivity maintenance / Giordano, P. R.; Franchi, A.; Secchi, C.; Bulthoff, H. H.. - 7:(2012), pp. 273-280. (Intervento presentato al convegno International Conference on Robotics Science and Systems, RSS 2011 tenutosi a usa nel 2011).
Bilateral teleoperation of groups of UAVs with decentralized connectivity maintenance
Secchi C.;
2012
Abstract
In this paper, we present a decentralized passivitybased control strategy for the bilateral teleoperation of a group of Unmanned Aerial Vehicles (UAVs). The human operator at the master side can command the group motion and receive suitable force cues informative about the remote environment. By properly controlling the energy exchanged within the slave side (the UAV group), we guarantee that the connectivity of the group is preserved and we prevent inter-agent and obstacle collisions. At the same time, we allow the behavior of the UAVs to be as flexible as possible with arbitrary split and join maneuvers. The results of the paper are validated by means of human/hardwarein- the-loop (HHIL) simulations.
Pubblicazioni consigliate
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris
