Bilateral Rate/Position Delayed Teleoperation Control for UAVs: A Performance Evaluation
Journal
2025 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)
Date Issued
2025
Author(s)
Emanuel Slawiñski
Viviana Moya
Type
proceedings-article
Abstract
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