Intercontinental haptic teleoperation of a flying vehicle : a step towards real-time applications
Mersha, Abeje Y., Hou, Xiaolei, Mahony, Robert, Stramigioli, Stefano, Corke, Peter, & Carloni, Raffaella (2013) Intercontinental haptic teleoperation of a flying vehicle : a step towards real-time applications. In Sugano, S. & Kaneko, M. (Eds.) Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Tokyo, Japan, pp. 4951-4957.
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.
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|Item Type:||Conference Paper|
|Additional Information:||This research is supported by the European Commission’s Seventh Framework Program as a part of the project “Innovative Aerial Service Robots for Remote Inspection by Contact (AIRobots)” under grant number
248669 and the Australian Research Council through the Future Fellowship FT0991771 “Foundations of Vision Based Control of Robotic Vehicles ”.
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2013 IEEE|
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|Deposited On:||21 Jan 2014 01:02|
|Last Modified:||09 Apr 2014 12:20|
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