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


C. Secchi, A. Franchi, H. H. Bülthoff, P. Robuffo Giordano. Bilateral Teleoperation of a Group of UAVs with Communication Delays and Switching Topology. In IEEE Int. Conf. on Robotics and Automation, ICRA 2012, Pages 4307-4314, St. Paul, MN, May 2012.

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


In this paper, we present a passivity-based decentralized approach for bilaterally teleoperating a group of UAVs composing the slave side of the teleoperation system. In particular, we explicitly consider the presence of time delays, both among the master and slave, and within UAVs composing the group. Our focus is on analyzing suitable (passive) strategies that allow a stable teloperation of the group despite presence of delays, while still ensuring high flexibility to the group topology (e.g., possibility to autonomously split or join during the motion). The performance and soundness of the approach is validated by means of human/hardware-in-the-loop simulations (HHIL)

BibTex Reference

   Author = {Secchi, C. and Franchi, A. and H. Bülthoff, H. and Robuffo Giordano, P.},
   Title = {{Bilateral Teleoperation of a Group of {UAVs} with Communication Delays and Switching Topology}},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA 2012},
   Pages = {4307--4314},
   Address = {St. Paul, MN},
   Month = {May},
   Year = {2012}

EndNote Reference [help]

Get EndNote Reference (.ref)