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Indoor Navigation Strategies for Aerial Autonomous Systems by Pedro Garcia Gil, Laura Elena Munoz Hernandez, Pedro Castillo-Garcia

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Chapter 11

Haptic Teleoperation*

Abstract

Although huge advances have been accomplished in the research for fully autonomous UAVs, human teleoperated UAVs remain a good alternative due to the still unsolved issues and security constrains related to the fully autonomous ones. Still it is important to aid the operator in his tasks as much as possible, by providing him useful information and making the operation more intuitive. Even more, it is necessary to minimize the risk of human mistakes. In this chapter collision-free haptic teleoperation is accomplished using monocular vision for obstacle detection. A human pilot is able to command the UAV giving angle references from a haptic joystick in delta configuration. A simple controller was ...

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