Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles
DC Field | Value | Language |
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dc.contributor.author | Lee, Dongjun | - |
dc.contributor.author | Franchi, Antonio | - |
dc.contributor.author | Son, Hyoung Il | - |
dc.contributor.author | Ha, ChangSu | - |
dc.contributor.author | Buelthoff, Heinrich H. | - |
dc.contributor.author | Giordano, Paolo Robuffo | - |
dc.date.accessioned | 2021-09-05T23:13:46Z | - |
dc.date.available | 2021-09-05T23:13:46Z | - |
dc.date.created | 2021-06-14 | - |
dc.date.issued | 2013-08 | - |
dc.identifier.issn | 1083-4435 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/102561 | - |
dc.description.abstract | 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. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.subject | PASSIVE DECOMPOSITION | - |
dc.subject | TRAJECTORY-TRACKING | - |
dc.subject | NETWORKS | - |
dc.subject | DESIGN | - |
dc.subject | UAV | - |
dc.title | Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Buelthoff, Heinrich H. | - |
dc.identifier.doi | 10.1109/TMECH.2013.2263963 | - |
dc.identifier.scopusid | 2-s2.0-84880570638 | - |
dc.identifier.wosid | 000321634500011 | - |
dc.identifier.bibliographicCitation | IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.18, no.4, pp.1334 - 1345 | - |
dc.relation.isPartOf | IEEE-ASME TRANSACTIONS ON MECHATRONICS | - |
dc.citation.title | IEEE-ASME TRANSACTIONS ON MECHATRONICS | - |
dc.citation.volume | 18 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 1334 | - |
dc.citation.endPage | 1345 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Engineering, Manufacturing | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordPlus | PASSIVE DECOMPOSITION | - |
dc.subject.keywordPlus | TRAJECTORY-TRACKING | - |
dc.subject.keywordPlus | NETWORKS | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordPlus | UAV | - |
dc.subject.keywordAuthor | Haptic feedback | - |
dc.subject.keywordAuthor | multiagent control | - |
dc.subject.keywordAuthor | passivity | - |
dc.subject.keywordAuthor | teleoperation | - |
dc.subject.keywordAuthor | unmanned aerial vehicles (UAVs) | - |
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