% % This file was created by the Typo3 extension % sevenpack version 0.7.14 % % --- Timezone: CEST % Creation date: 2017-05-23 % Creation time: 12-50-00 % --- Number of references % 5 % @Inproceedings { GrabeRBRF2013, title = {The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control}, year = {2013}, month = {9}, pages = {19-25}, abstract = {The free and open source Tele-Operation Platform of the MPI for Biological Cybernetics (TeleKyb) is an end- to-end software framework for the development of bilateral teleoperation systems between human interfaces (e.g., haptic force feedback devices or gamepads) and groups of quadrotor Unmanned Aerial Vehicles (UAVs). Among drivers for devices and robots from various hardware manufactures, TeleKyb provides a high-level closed-loop robotic controller for mobile robots that can be extended dynamically with modules for state estimation, trajectory planning, processing, and tracking. Since all internal communication is based on the Robot Operating System (ROS), TeleKyb can be easily extended to meet future needs. The capabilities of the overall framework are demonstrated in both an experimental validation of the controller for an individual quadrotor and a complex experimental setup involving bilateral human-robot interaction and shared formation control of multiple UAVs.}, url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2013/2013j-GraRieBueRobFra-preprint.pdf}, department = {Department B{\"u}lthoff}, web_url = {http://www.iri.upc.edu/ecmr13/\#home}, publisher = {IEEE}, address = {Piscataway, NJ, USA}, event_place = {Barcelona, Spain}, event_name = {6th European Conference on Mobile Robots (ECMR 2013)}, ISBN = {978-1-4799-0263-7}, DOI = {10.1109/ECMR.2013.6698814}, author = {Grabe, V and Riedel, M and B{\"u}lthoff, HH and Robuffo Giordano, P and Franchi, A} } @Inproceedings { NestmeyerRLHBRF2013, title = {Interactive Demo: Haptic Remote Control of Multiple UAVs with Autonomous Cohesive Behavior}, year = {2013}, month = {5}, pages = {1-3}, url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2013/ICRA-2013-Workshop-Nestmeyer.pdf}, department = {Department B{\"u}lthoff}, web_url = {http://icra2013mrs.tuebingen.mpg.de/index.php?id=56}, event_place = {Karlsruhe, Germany}, event_name = {ICRA 2013 Workshop Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration}, author = {Nestmeyer, T and Riedel, M and L{\"a}chele, J and Hartmann, S and Botschen, F and Robuffo Giordano, P and Franchi, A} } @Inproceedings { LacheleRRF2013, title = {SwarmSimX and TeleKyb: Two ROS-integrated Software Frameworks for Single- and Multi-Robot Applications}, year = {2013}, month = {5}, pages = {1-3}, abstract = {In this notes we briefly review two software frameworks that have been developed within the Autonomous Robotics and Human-machine Systems group (formerly, Human-Robot Interaction group) at the Max Plank Institute for Biological Cybernetics. Both frameworks, starting from the early versions up to the most recent releases, have been successfully employed in several works of the group, including, e.g., [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12]. For a detailed description of SwarmSimX, we refer the interested reader to [13], [14]. The TeleKyb framework is instead described thoroughly in [15] and available at http://www.ros.org/wiki/telekyb. .}, url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2013/ICRA-2013-Workshop-Laechele.pdf}, department = {Department B{\"u}lthoff}, web_url = {http://icra2013mrs.tuebingen.mpg.de/index.php?id=56}, event_place = {Karlsruhe, Germany}, event_name = {ICRA 2013 Workshop Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration}, author = {L{\"a}chele, J and Riedel, M and Robuffo Giordano, P and Franchi, A} } @Inproceedings { RiedelFRBS2012, title = {Experiments on Intercontinental Haptic Control of Multiple UAVs}, year = {2013}, pages = {227-238}, abstract = {In this paper we propose and experimentally validate a bilateral teleoperation framework where a group of UAVs are controlled over an unreliable network with typical intercontinental time delays and packet losses. This setting is meant to represent a realistic and challenging situation for the stability the bilateral closed-loop system. In order to increase human telepresence, the system provides the operator with both a video stream coming from the onboard cameras mounted on the UAVs, and with a suitable haptic cue, generated by a forcefeedback device, informative of the UAV tracking performance and presence of impediments on the remote site. In addition to the theoretical background, we describe the hardware and software implementation of this intercontinental teleoperation: this is composed of a semi-autonomous group of multiple quadrotor UAVs, a 3-DOF haptic interface, and a network connection based on a VPN tunnel between Germany and South Korea. The whole software framework is based upon the Robotic Operating System (ROS) communication standard.}, url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2012/IAS-2012-Riedel2.pdf}, department = {Department B{\"u}lthoff}, web_url = {http://www.ias-12.org/main/}, editor = {Lee, S. , H. Cho, K.-J. Yoon, J. Lee}, publisher = {Springer}, address = {Berlin, Germany}, series = {Advances in Intelligent Systems and Computing ; 194}, booktitle = {Intelligent Autonomous Systems 12}, event_place = {Jeju Island, South Korea}, event_name = {12th International Conference on Intelligent Autonomous Systems (IAS-12)}, ISBN = {978-3-642-33931-8}, DOI = {10.1007/978-3-642-33932-5_22}, author = {Riedel, M and Franchi, A and Robuffo Giordano, P and B{\"u}lthoff, HH and Son, HI} } @Conference { RiedelFBR2012, title = {Intercontinental haptic control and advanced supervisory interfaces for groups of multiple UAVs}, year = {2012}, month = {10}, day = {18}, url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2012/HFR-2012-Riedel.pdf}, department = {Department B{\"u}lthoff}, talk_type = {Abstract Talk}, web_url = {http://hfr2012.wordpress.com/}, event_place = {Bruxelles, Belgium}, event_name = {5th Workshop for Young Researchers on Human-Friendly Robotics (HFR 2012)}, author = {Riedel, M and Franchi, A and B{\"u}lthoff, HH and Robuffo Giordano, P} }