NDLI: Bilateral teleoperation of underactuated unmanned aerial vehicles: The virtual slave concept

Content Provider	IEEE Xplore Digital Library
Author	Mersha, A.Y. Stramigioli, S. Carloni, R.
Copyright Year	2012
Description	Author affiliation: Department of Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, 7500 AE Enschede, The Netherlands (Mersha, A.Y.; Stramigioli, S.; Carloni, R.)
Abstract	In this paper, we present haptic teleoperation of underactuated unmanned aerial vehicles by providing a multidimensional generalization of the virtual slave concept. The proposed control architecture is composed of high-level and low-level controllers. The high-level controller commands the vehicle to accomplish specific tasks and renders both the state and the environment of the vehicle to the operator through haptic feedback. The low-level controller interprets the command signals from the operator, regulates the dynamics of the vehicle and feeds back its state to the high-level loop. Passivity of the teleoperation loop is always ensured independently of the choice of implementation of the low-level controller and the configuration of the flying hardware by a passivity-enforcing supervisor, which associates every action of the slave with an energy expense that can only be made available from a multi-state energy tank. The effectiveness of the proposed algorithm is illustrated with simulations and experimental tests.
Starting Page	4614
Ending Page	4620
File Size	474774
Page Count	7
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6224711
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Vehicle dynamics Force feedback Couplings Gravity Humans
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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