Core Concepts
Ensuring safety and stability in quadrotor UAV teleoperation through Haptic Shared Autonomy.
Abstract
The article introduces a novel approach using Control Barrier Functions (CBFs) to ensure safety and stability in a haptic teleoperation system. It discusses the challenges faced in UAV teleoperation, the role of haptic feedback, and the proposed methods SCF and JCF. Experimental simulations are conducted to evaluate the effectiveness of the designed methods on a physical quadrotor UAV. The study emphasizes the importance of addressing both safety and stability aspects in autonomous controller design.
Stats
"We use Control Barrier Functions (CBFs) to generate the control input that follows the user’s input as closely as possible while guaranteeing safety."
"In this paper, we leverage the framework of control barrier functions (CBFs) to the design of the autonomous controller."
"Since passivity provides a sufficient condition for stability, making the system passive provides a convenient approach to maintaining the stability of a teleoperation system."
"Our recent work proposed a finite-L2-gain approach that guarantees the stability in human-in-the-loop haptic teleoperation using a less restrictive differential constraint as compared with traditional passivity methods."