TY - GEN
T1 - Intercontinental haptic teleoperation of a flying vehicle
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
AU - Mersha, Abeje Y.
AU - Hou, Xiaolei
AU - Mahony, Robert
AU - Stramigioli, Stefano
AU - Corke, Peter
AU - Carloni, Raffaella
PY - 2013
Y1 - 2013
N2 - This paper describes the theory and practice for a stable haptic teleoperation of a flying vehicle. It extends passivity-based control framework for haptic teleoperation of aerial vehicles in the longest intercontinental setting that presents great challenges. The practicality of the control architecture has been shown in maneuvering and obstacle-avoidance tasks over the internet with the presence of significant time-varying delays and packet losses. Experimental results are presented for teleoperation of a slave quadrotor in Australia from a master station in the Netherlands. The results show that the remote operator is able to safely maneuver the flying vehicle through a structure using haptic feedback of the state of the slave and the perceived obstacles.
AB - This paper describes the theory and practice for a stable haptic teleoperation of a flying vehicle. It extends passivity-based control framework for haptic teleoperation of aerial vehicles in the longest intercontinental setting that presents great challenges. The practicality of the control architecture has been shown in maneuvering and obstacle-avoidance tasks over the internet with the presence of significant time-varying delays and packet losses. Experimental results are presented for teleoperation of a slave quadrotor in Australia from a master station in the Netherlands. The results show that the remote operator is able to safely maneuver the flying vehicle through a structure using haptic feedback of the state of the slave and the perceived obstacles.
UR - http://www.scopus.com/inward/record.url?scp=84893809787&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6697071
DO - 10.1109/IROS.2013.6697071
M3 - Conference contribution
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4951
EP - 4957
BT - IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -