%0 Conference Proceedings
%F C24
%A Lee, D.
%A Franchi, A.
%A Robuffo Giordano, P.
%A I. Son, H.
%A H. Bülthoff, H.
%T {Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet}
%B IEEE Int. Conf. on Robotics and Automation, ICRA 2011
%P 1341-1347
%C Shanghai, China
%X 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
%U http://rainbow-doc.irisa.fr/pdf/paolo/ICRA11_1014_FI.pdf
%U http://dx.doi.org/10.1109/ICRA.2011.5979993
%8 May
%D 2011