Stable Haptic Teleoperation of UAVs via Small L2 Gain and Control Barrier Functions
Dawei Zhang,Roberto Tron,Dawei Zhang,Roberto Tron
We present a novel haptic teleoperation approach that considers not only the safety but also the stability of a teleoperation system. Specifically, we build upon previous work on haptic shared control, which generates a reference haptic feedback that helps the human operator to safely navigate the robot but without taking away their control authority. Crucially, in this approach the force rendered...
