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D. Lee, A. Franchi, P. Robuffo Giordano, H. I. Son, H. H. Bülthoff. Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet. In IEEE Int. Conf. on Robotics and Automation, ICRA 2011, Pages 1341-1347, Shanghai, China, May 2011.

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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

BibTex Reference

   Author = {Lee, D. and Franchi, A. and Robuffo Giordano, P. and I. Son, H. and H. Bülthoff, H.},
   Title = {{Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet}},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA 2011},
   Pages = {1341--1347},
   Address = {Shanghai, China},
   Month = {May},
   Year = {2011}

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