Jump to : Download | Abstract | Contact | BibTex reference | EndNote reference |


A. Franchi, C. Masone, H. H. Bülthoff, P. Robuffo Giordano. Bilateral Teleoperation of Multiple UAVs with Decentralized Bearing-only Formation Control. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS 2011, Pages 2215-2222, San Francisco, CA, 2011.

Download [help]

Download paper: Doi page

Download paper: Adobe portable document (pdf) pdf

Copyright notice:

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2024, Projet Lagadic/Rainbow


We present a decentralized system for the bilateral teleoperation of groups of UAVs which only relies on relative bearing measurements, i.e., without the need of distance information or global localization. The properties of a 3D bearing-formation are analyzed, and a minimal set of bearings needed for its definition is provided. We also design a novel decentralized formation control almost globally convergent and able to maintain bounded and non-vanishing inter-distances among the agents despite the absence of direct distance measurements. Furthermore, we develop a multi-master/ multi-slave teleoperation setup in order to control the overall behavior of the group and to convey to the human operator suitable force cues, while ensuring stability in presence of delays and packet losses over the master-slave communication channel. The theoretical framework is validated by means of extensive human/hardware in-the-loop simulations using two force-feedback devices and a group of quadrotors

BibTex Reference

   Author = {Franchi, A. and Masone, C. and H. Bülthoff, H. and Robuffo Giordano, P.},
   Title = {{Bilateral Teleoperation of Multiple {UAVs} with Decentralized Bearing-only Formation Control}},
   BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS 2011},
   Pages = {2215--2222},
   Address = {San Francisco, CA},
   Year = {2011}

EndNote Reference [help]

Get EndNote Reference (.ref)