Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles

Dongjun Lee (1) , Antonio Franchi (2) , Hyoung Il Son (3) , Changsu Ha (1) , Heinrich H Bülthoff (2, 4) , Paolo Robuffo Giordano (2, 5)

1 Department of Mechanical and Aerospace Engineering [Seoul]
2 Max Planck Institute for Biological Cybernetics
3 Samsung Heavy Industries [Daejeon]
4 Brain and Cognitive Sciences, Séoul
5 Lagadic - Visual servoing in robotics, computer vision, and augmented reality

We propose a novel semi-autonomous haptic tele- operation 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.

Domaines: Robotique [cs.RO]

Dongjun Lee, Antonio Franchi, Hyoung Il Son, Changsu Ha, Heinrich H Bülthoff, et al.. Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles. IEEE/ASME Transactions on Mechatronics, 2013, 18 (4), pp.1334-1345. ⟨10.1109/TMECH.2013.2263963⟩. ⟨hal-00910801⟩