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.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control


    Beteiligte:
    Franchi, A. (Autor:in) / Masone, C. (Autor:in) / Bulthoff, H.H. (Autor:in) / Giordano, P.Robuffo (Autor:in)


    Erscheinungsdatum :

    2011


    Format / Umfang :

    8 Seiten, 22 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology

    Franchi, Antonio / Giordano, Paolo Robuffo / Secchi, Cristian et al. | Tema Archiv | 2011


    Energy-Optimized Consensus Formation Control for the Time-Delayed Bilateral Teleoperation System of UAVs

    Hui-yu Sun / Guang-ming Song / Zhong Wei et al. | DOAJ | 2018

    Freier Zugriff

    Simulated Bilateral Teleoperation of Robonaut

    O Malley, M. / Hughes, K. / Magruder, D. et al. | British Library Conference Proceedings | 2003


    Simulated Bilateral Teleoperation of Robonaut

    O'Malley, Marcia / Hughes, Kelsey / Magruder, Darby et al. | AIAA | 2003


    Bilateral Teleoperation - Human Operator Centered Approach

    Nisky, I. / Karniel, A. | British Library Conference Proceedings | 2010