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Teleoperated aerial manipulator and its avatar. Part 1: Communication, system's interconnection, control, and virtual world

2020-10-19 22:41:16
Rodolfo Verdín, Germán Ramírez, Carlos Rivera, Gerardo Flores
arXiv_RO
     
Abstract

The tasks that an aerial manipulator can perform are incredibly diverse. However, nowadays the technology is not completely developed to achieve complex tasks autonomously. That's why we propose a human-in-the-loop system that can control a semi-autonomous aerial manipulator to accomplish these kinds of tasks. Furthermore, motivated by the growing trend of virtual reality systems, together with teleoperation, we develop a system composed of: an aerial manipulator model programmed in PX4 and modeled in Gazebo, a virtual reality immersion with an interactive controller, and the interconnection between the aforementioned systems via the Internet. This research is the first part of a broader project. In this part, we present experiments in the software in the loop simulation. The code of this work is liberated on our GitHub page. Also, a video shows the conducted experiments.

Abstract (translated)

URL

https://arxiv.org/abs/2010.09903

PDF

https://arxiv.org/pdf/2010.09903.pdf

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