Decentralized Bilateral Aerial Teleoperation of Multiple UAVs – Part I: a Bottom-up Perspective
Paolo Robuffo Giordano · 2011
Abstract—In this talk, we will review some recent advance-ments in the field of Aerial Teleoperation, i.e., how to bilaterally couple a single human operator with a remote fleet of semi-autonomous UAVs which 1) must keep some spatial formation and avoid inter- and obstacle- collisions, and 2) must collectively follow the human commands. The emphasis will be placed on the modeling and control tools needed for establishing such a non-conventional bilateral channel: in particular, we will study how to render the multi-UAV “slave side ” a passive system w.r.t. the environment, and how to still enforce global connectivity maintenance despite limited sensing and loss of visibility because of occlusions. I.