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This paper addresses the problem of the low-energy coordinated formation control of multiple unmanned aerial vehicles (UAVs) in a time-varying bilateral teleoperation system. To achieve the multi-UAV cooperative control with time-varying delays, a passive proportional velocity/position errors plus damping injection controller is proposed to enforce the coordinated formation and force tracking of the...
A visual and force feedback-based teleoperation scheme is proposed for cooperative tasks. The bilateral teleoperation system includes a haptic device, an overhead camera and a group of wheeled robots. The commands of formation and average velocities of the multiple robots are generated by the operator through the haptic device. The state of the multiple robots and the working environment is sent to...
In this paper, the bilateral teleoperation control of a monocular vision-based formation system of quadrotors is proposed. Formation control can be decomposed into a two-level problem: center control and shape control of formation. On one hand, the suitable incorporation of human operation in the control loop can be exploited as a valid support for controlling the center of formation. Not only the...
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