A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology
Contributo in Atti di convegno
Data di Pubblicazione:
2011
Citazione:
A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology / A., Franchi; P., Robuffo Giordano; Secchi, Cristian; H. I., Son; H. H., Bülthoff. - ELETTRONICO. - (2011), pp. 898-905. ( 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 Shanghai, chn 9-13/05/2011) [10.1109/ICRA.2011.5980368].
Abstract:
In this paper, a novel distributed control strategy for teleoperating a fleet of Unmanned Aerial Vehicles (UAVs) is proposed. Using passivity based techniques, we allow the behavior of the UAVs to be as flexible as possible with arbitrary split and join decisions while guaranteeing stability of the system. Furthermore, the overall teleoperation system is also made passive and, therefore, characterized by a stable behavior both in free motion and when interacting with unknown passive obstacles. The performance of the system is validated through semi-experiments.
Tipologia CRIS:
Relazione in Atti di Convegno
Keywords:
Bilateral Teleoperation; decentralized control; Passivity based control
Elenco autori:
A., Franchi; P., Robuffo Giordano; Secchi, Cristian; H. I., Son; H. H., Bülthoff
Link alla scheda completa:
Titolo del libro:
2011 IEEE International Conference on Robotics and Automation (ICRA)