TY - JOUR
T1 - Shared control
T2 - Balancing autonomy and human assistance with a group of quadrotor UAVs
AU - Franchi, Antonio
AU - Secchi, Cristian
AU - Ryll, Markus
AU - Bülthoff, Heinrich
AU - Giordano, Paolo Robuffo
N1 - Funding Information:
Science, and Technology through the National Research Foundation of Korea (R31-10008). The authors also thank Dr. Hyoung Il Son, Carlo Masone,and Volker Grabefor their useful help in the development and implementation of some of the presented controllers and the QR hardware setup.
Funding Information:
This research was partly supported by World Class University (WCU) program funded by the Ministry of Education,
PY - 2012
Y1 - 2012
N2 - A unified framework that allows letting the group of UAVs autonomously control its topology in a safe and stable manner and suitable incorporation of some skilled human operators in the control loop is described. Various experiments were run in a test bed, which includes a group of quadrotors (QR) and two haptic interfaces integrated in a flexible software framework. The control architecture allows the integration of a topological motion controller, a human assistance module, and a force-feedback possibility to increase the telepresence of human assistants. Results show that the actions of the human command and obstacle avoidance produce a rotation of the whole formation, thus allowing to overcome the obstacles . The motion of the UAVs leads to several split and rejoins, triggering in some cases the tank/spring energy exchange needed to preserve passivity of the slave side described in the 'Ensuring a Stable Behavior of the Agent Group' section.
AB - A unified framework that allows letting the group of UAVs autonomously control its topology in a safe and stable manner and suitable incorporation of some skilled human operators in the control loop is described. Various experiments were run in a test bed, which includes a group of quadrotors (QR) and two haptic interfaces integrated in a flexible software framework. The control architecture allows the integration of a topological motion controller, a human assistance module, and a force-feedback possibility to increase the telepresence of human assistants. Results show that the actions of the human command and obstacle avoidance produce a rotation of the whole formation, thus allowing to overcome the obstacles . The motion of the UAVs leads to several split and rejoins, triggering in some cases the tank/spring energy exchange needed to preserve passivity of the slave side described in the 'Ensuring a Stable Behavior of the Agent Group' section.
UR - http://www.scopus.com/inward/record.url?scp=84867338001&partnerID=8YFLogxK
U2 - 10.1109/MRA.2012.2205625
DO - 10.1109/MRA.2012.2205625
M3 - Article
AN - SCOPUS:84867338001
SN - 1070-9932
VL - 19
SP - 57
EP - 68
JO - IEEE Robotics and Automation Magazine
JF - IEEE Robotics and Automation Magazine
IS - 3
M1 - 6290692
ER -