In this paper, we present a decentralized passivity- based 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/hardware- in-the-loop (HHIL) simulations.
Passivity-Based Decentralized Connectivity Maintenance in the Bilateral Teleoperation of Multiple UAVs / P., Robuffo Giordano; A., Franchi; Secchi, Cristian; H. H., Buelthoff. - ELETTRONICO. - (2011). (Intervento presentato al convegno 2011 Robotics: Science and Systems tenutosi a Los Angeles, USA nel 27/06/2011 - 01/07/2011).
Passivity-Based Decentralized Connectivity Maintenance in the Bilateral Teleoperation of Multiple UAVs
SECCHI, Cristian;
2011
Abstract
In this paper, we present a decentralized passivity- based 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/hardware- in-the-loop (HHIL) simulations.
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