The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control
Identifieur interne : 001624 ( Main/Exploration ); précédent : 001623; suivant : 001625The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control
Auteurs : Voker Grabe [Suisse] ; Martin Riedel [Allemagne] ; Heinrich H. Bülthoff [Allemagne] ; Paolo Robuffo Giordano [France] ; Antonio Franchi [Allemagne]Source :
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 demon- strated in both an experimental validation of the controller for an individual quadrotor and a complex experimental setup in- volving bilateral human-robot interaction and shared formation control of multiple UAVs.
Url:
Affiliations:
- Allemagne, France, Suisse
- Région Bretagne
- Lorient, Rennes
- Société Max-Planck, Université de Bretagne-Sud, Université de Rennes 1, Université européenne de Bretagne
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Le document en format XML
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CS 46510 - 35065 Rennes cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-rennes1.fr/</ref></desc></org></tutelle><tutelle active="#struct-172265" type="indirect"><org type="institution" xml:id="struct-172265" status="VALID"><orgName>Université de Bretagne Sud</orgName><orgName type="acronym">UBS</orgName><desc><address><addrLine>BP 92116 - 56321 Lorient cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-ubs.fr/</ref></desc></org></tutelle><tutelle active="#struct-247362" type="indirect"><org type="institution" xml:id="struct-247362" status="VALID"><orgName>École normale supérieure - Rennes</orgName><orgName type="acronym">ENS Rennes</orgName><desc><address><addrLine>Campus de Ker Lann - avenue Robert Schuman - 35170 Bruz</addrLine><country key="FR"></country></address><ref type="url">http://www.ens-rennes.fr</ref></desc></org></tutelle><tutelle active="#struct-300812" type="indirect"><org type="institution" xml:id="struct-300812" status="VALID"><orgName>SUPELEC</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle name="- RENNES" active="#struct-301232" type="indirect"><org type="institution" xml:id="struct-301232" status="VALID"><orgName>Institut National des Sciences Appliquées</orgName><orgName type="acronym">INSA</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-301262" type="indirect"><org type="institution" xml:id="struct-301262" status="VALID"><orgName>Télécom Bretagne</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR6074" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Rennes</settlement><region type="region" nuts="2">Région Bretagne</region></placeName><orgName type="university">Université de Rennes 1</orgName><orgName type="institution" wicri:auto="newGroup">Université européenne de Bretagne</orgName><placeName><settlement type="city">Lorient</settlement><region type="region" nuts="2">Région Bretagne</region></placeName><orgName type="university">Université de Bretagne-Sud</orgName><orgName type="institution" wicri:auto="newGroup">Université européenne de Bretagne</orgName></affiliation></author><author><name sortKey="Franchi, Antonio" sort="Franchi, Antonio" uniqKey="Franchi A" first="Antonio" last="Franchi">Antonio Franchi</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-83432" status="VALID"><orgName>Max Planck Institute for Biological Cybernetics</orgName><orgName type="acronym">MPI</orgName><desc><address><addrLine>Spemannstr. 44 72076 Tuebingen Germany</addrLine><country key="DE"></country></address><ref type="url">http://www.kyb.mpg.de/</ref></desc><listRelation><relation active="#struct-300044" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-300044" type="direct"><org type="institution" xml:id="struct-300044" status="VALID"><orgName>Max-Planck-Institut</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle></tutelles></hal:affiliation><country>Allemagne</country><orgName type="university">Société Max-Planck</orgName></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">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 demon- strated in both an experimental validation of the controller for an individual quadrotor and a complex experimental setup in- volving bilateral human-robot interaction and shared formation control of multiple UAVs.</div></front></TEI><affiliations><list><country><li>Allemagne</li><li>France</li><li>Suisse</li></country><region><li>Région Bretagne</li></region><settlement><li>Lorient</li><li>Rennes</li></settlement><orgName><li>Société Max-Planck</li><li>Université de Bretagne-Sud</li><li>Université de Rennes 1</li><li>Université européenne de Bretagne</li></orgName></list><tree><country name="Suisse"><noRegion><name sortKey="Grabe, Voker" sort="Grabe, Voker" uniqKey="Grabe V" first="Voker" last="Grabe">Voker Grabe</name></noRegion></country><country name="Allemagne"><noRegion><name sortKey="Riedel, Martin" sort="Riedel, Martin" uniqKey="Riedel M" first="Martin" last="Riedel">Martin Riedel</name></noRegion><name sortKey="Bulthoff, Heinrich H" sort="Bulthoff, Heinrich H" uniqKey="Bulthoff H" first="Heinrich H" last="Bülthoff">Heinrich H. Bülthoff</name><name sortKey="Franchi, Antonio" sort="Franchi, Antonio" uniqKey="Franchi A" first="Antonio" last="Franchi">Antonio Franchi</name></country><country name="France"><region name="Région Bretagne"><name sortKey="Robuffo Giordano, Paolo" sort="Robuffo Giordano, Paolo" uniqKey="Robuffo Giordano P" first="Paolo" last="Robuffo Giordano">Paolo Robuffo Giordano</name></region></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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