%0 Journal Article 
%F Lee13a
%A Lee, D.
%A Franchi, A.
%A I. Son, H.
%A H. Bülthoff, H.
%A Robuffo Giordano, P.
%T {Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles}
%J IEEE/ASME Trans. on Mechatronics, {Focused Section on Aerospace Mechatronics}
%V 	 18
%N 4
%P 1334-1345
%X We propose a novel semiautonomous haptic teleoperation control architecture for multiple unmanned aerial vehicles (UAVs), consisting of three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic Cartesian virtual point (VP); 2) VP control layer, which modulates each VP's motion according to the teleoperation commands and local artificial potentials (for VP-VP/VP-obstacle collision avoidance and VP-VP connectivity preservation); and 3) teleoperation layer, through which a single remote human user can command all (or some) of the VPs' velocity while haptically perceiving the state of all (or some) of the UAVs and obstacles. Master passivity/slave stability and some asymptotic performance measures are proved. Experimental results using four custom-built quadrotor-type UAVs are also presented to illustrate the theory
%U http://rainbow-doc.irisa.fr/pdf/2013_ieeetmech_lee.pdf
%U http://dx.doi.org/10.1109/TMECH.2013.2263963
%8 August
%D 2013