会议专题

A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology

In this paper, a novel distributed control strategy for teleoperating a .eet of Unmanned Aerial Vehicles (UAVs) is proposed. Using passivity based techniques, we allow the behavior of the UAVs to be as .exible 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.

Antonio Franchi Paolo Robuffo Giordano Cristian Secchi Hyoung Il Son Heinrich H. B(u)lthoff

Max Planck Institute for Biological Cybernetics,Spemannstraβe 38,72076 T(u)bingen,Germany Department of Science and Methods of Engineering,University of Modena and Reggio Emilia,via G. Amend Max Planck Institute for Biological Cybernetics,Spemannstraβe 38,72076 T╱bingen,Germany,and with the

国际会议

2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

上海

英文

898-905

2011-05-09(万方平台首次上网日期,不代表论文的发表时间)