High precision, intuitive teleoperation of multiple micro aerial vehicles using virtual reality

In this work, we present a method for the individual, simultaneous teleoperation of multiple multirotors. Instead of using a traditional four axis remote controller to steer the small sized quadrotors used in this work, all degrees of freedom of the device are intuitively controlled by a human operator in virtual reality, allowing high precision maneuvering of the vehicles through obstacles in three dimensional space. The proposed method enables the human operator to precisely control multiple micro aerial vehicles simultaneously, without the use of formation flight or other grouping methods. The teleoperation control performance of this approach is compared to a traditional four axis control method in several experiments.