Carvajal, Christian

Preferred name
Carvajal, Christian
Main Affiliation
Ambato

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    Item type:Publication,
    Bilateral Rate/Position Delayed Teleoperation Control for UAVs: A Performance Evaluation
    (2025)
    Chicaiza Claudio, Fernando  
    ;
    Emanuel Slawiñski
    ;
    Viviana Moya
    ;
    Carvajal, Christian  
    ;
    Varela Aldas, José  
    This paper introduces a bilateral teleoperation system for UAVs that employs a hybrid control scheme combining rate and non-linear position modes. By continuously switching between these modes, the system achieves both agile manoeuvring and precise positioning under communication delays. Validation is carried out using a dynamic model for the master robot with a Novint Falcon haptic device and a simplified model for the slave robot in Gazebo-ROS2. Performance metrics including task completion time, mean squared error, and force feedback demonstrate enhanced stability and efficiency, suggesting promising applications in inspection, environmental monitoring and search and rescue
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