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D. Lee, A. Franchi, H. I. Son, H. H. Bülthoff, P. Robuffo Giordano. Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles. IEEE/ASME Trans. on Mechatronics, Focused Section on Aerospace Mechatronics, 18(4):1334-1345, August 2013.

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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

BibTex Reference

   Author = {Lee, D. and Franchi, A. and I. Son, H. and H. Bülthoff, H. and Robuffo Giordano, P.},
   Title = {{Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles}},
   Journal = {IEEE/ASME Trans. on Mechatronics, {Focused Section on Aerospace Mechatronics}},
   Volume = {    18},
   Number = {4},
   Pages = {1334--1345},
   Month = {August},
   Year = {2013}

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