The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control

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.
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Voker Grabe, Martin Riedel, Heinrich H Bülthoff, Paolo Robuffo Giordano, Antonio Franchi. The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control. European Conference on Mobile Robots, ECMR 2013, Sep 2013, Barcelona, Catalonia, Spain. ⟨hal-00908803⟩

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