@article {138, title = {Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles}, journal = {IEEE/ASME Transaction on Mechatronics, Focused Section on Aerospace Mechatronics}, volume = {18}, year = {2013}, month = {08/2013}, pages = {1334-1345}, abstract = {We propose a novel semi-autonomous haptic teleoperation control architecture for multiple unmanned aerial vehicles (UAVs), consisting of three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic Cartesian virtual point (VP); 2) VP control layer, which modulates each VP{\textquoteright}s motion according to the teleoperation commands and local artificial potentials (for VP-VP/VP-obstacle collision avoidance and VP-VP connectivity preservation); and 3) teleoperation layer, through which a single remote human user can command all (or some) of the VPs{\textquoteright} velocity while haptically perceiving the state of all (or some) of the UAVs and obstacles. Master-passivity/slave-stability and some asymptotic performance measures are proved. Experimental results using four custom-built quadrotor-type UAVs are also presented to illustrate the theory.}, keywords = {Bilateral Shared Control of Mobile Robots, Motion control of multiple robots, UAV hardware platforms}, author = {Dongjun Lee and Antonio Franchi and Hyoung Il Son and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano} }