A Novel Approach to Haptic Tele-operation of Aerial Robot Vehicles
Date
2010
Authors
Stramigioli, Stefano
Mahony, Robert
Corke, Peter
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
We present a novel, simple and effective approach for tele-operation of aerial robotic vehicles with haptic feedback. Such feedback provides the remote pilot with an intuitive feel of the robot's state and perceived local environment that will ensure simple and safe operation in cluttered 3D environments common in inspection and surveillance tasks. Our approach is based on energetic considerations and uses the concepts of network theory and port-Hamiltonian systems. We provide a general framework for addressing problems such as mapping the limited stroke of a 'master' joystick to the infinite stroke of a 'slave' vehicle, while preserving passivity of the closed-loop system in the face of potential time delays in communications links and limited sensor data.
Description
Keywords
Keywords: 3-D environments; Aerial robotic vehicles; Aerial robots; Haptic feedbacks; Inspection and surveillance; Local environments; Network theory; Port-Hamiltonian systems; Potential-time; Safe operation; Sensor data; Tele-operations; Feedback; Hamiltonians; Ro
Citation
Collections
Source
Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2010)
Type
Conference paper
Book Title
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Restricted until
2037-12-31