Internet based bilateral teleoperation system for quad-rotor flying vehicles

In this work, we propose haptic-based bilateral tele-operation for quad-rotor vehicles by using Internet communication infrastructure. The idea is to introduce shared autonomy to increase remote operation and manipulation capacity of the vehicle in uncertain flying environments. The design couples ground and remote sites by position and velocity signals of the master haptic and slave quad-rotor vehicle. Force reflection using haptic feedback provides human operator with a certain kinesthetic feeling of the interaction between vehicle and environment increasing the autonomy of the vehicle. The result will be an innovative human machine interface where the force feedback will complement the visual information during tele-operation surveillance tasks, enabling safe maneuvers. The experiments will be performed for indoor operation where this technique will achieve major impact.