Port-based Telemanipulation Control of Underactuated Flying Vehicles

Mersha, Abeye Y. and Carloni, Raffaella and Stramigioli, Stefano (2011) Port-based Telemanipulation Control of Underactuated Flying Vehicles. In: 11th Dutch-Belgian Haptics Meeting, 8 March 2011, Leuven, Belgium.

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Abstract:	Recently, the interest in the field of unmanned aerial vehicles (UAVs) is increasing due to the existence of diverse potential applications in civilian sector. These applications often require high level reasoning, which, in some cases, need specialist in the led. The step forward towards achieving constant interaction between the UAV and the human operator is to provide the pilot with the feel of the local environment of the UAV. The implementation of force feedback, with the aim of maximizing the telepresence of the pilot, meets the challenge of maintaining the stability of the overall telemanipulation loop, which might end up in compromising the telepresence. In addition, challenges, such as pervasive dissipation, lack of measurement and finite stroke of the haptic interface, are also faced.
Item Type:	Conference or Workshop Item
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/76485
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