Verdìn, Rodolfo Isaac (Center for Research in Optics, A.C.), Ramírez, Germán (Center for Research in Optics, A.C.), Rivera Quezada, Carlos Arturo (Center for Research in Optics, A.C.), Flores, Gerardo (Center for Research in Optics, A.C.)

Teleoperated Aerial Manipulator and Its Avatar. Communication, System’s Interconnection, and Virtual World

Scheduled for presentation during the Regular Session "UAS Communications" (FrD2), Friday, June 18, 2021, 16:00−16:20, Kozani

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

The tasks that an aerial manipulator can perform are incredibly diverse. However, nowadays the technology is not entirely developed to achieve complex tasks autonomously. That is 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 systems above 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 available on our GitHub page. Also, a video shows the conducted experiments.