{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T07:33:39Z","timestamp":1782372819851,"version":"3.54.5"},"reference-count":33,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2018,1,15]],"date-time":"2018-01-15T00:00:00Z","timestamp":1515974400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2018,1,15]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to tele-operate the movement of an unmanned aerial vehicle (UAV) in the obstructed environment with asymmetric time-varying delays. A simple passive proportional velocity errors plus damping injection (P-like) controller is proposed to deal with the asymmetric time-varying delays in the aerial teleoperation system.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>This paper presents both theoretical and real-time experimental results of the bilateral teleoperation system of a UAV for collision avoidance over the wireless network. First, a position-velocity workspace mapping is used to solve the master-slave kinematic\/dynamic dissimilarity. Second, a P-like controller is proposed to ensure the stability of the time-delayed bilateral teleoperation system with asymmetric time-varying delays. The stability is analyzed by the Lyapunov\u2013Krasovskii function and the delay-dependent stability criteria are obtained under linear-matrix-inequalities conditions. Third, a vision-based localization is presented to calibrate the UAV\u2019s pose and provide the relative distance for obstacle avoidance with a high accuracy. Finally, the performance of the teleoperation scheme is evaluated by both human-in-the-loop simulations and real-time experiments where a single UAV flies through the obstructed environment.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>Experimental results demonstrate that the teleoperation system can maintain passivity and collision avoidance can be achieved with a high accuracy for asymmetric time-varying delays. Moreover, the operator could tele-sense the force reflection to improve the maneuverability in the aerial teleoperation.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>A real-time bilateral teleoperation system of a UAV for collision avoidance is performed in the laboratory. A force and visual interface is designed to provide force and visual feedback of the slave environment to the operator.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-04-2017-0072","type":"journal-article","created":{"date-parts":[[2017,12,13]],"date-time":"2017-12-13T08:10:23Z","timestamp":1513152623000},"page":"152-166","source":"Crossref","is-referenced-by-count":3,"title":["P-like controllers with collision avoidance for passive bilateral teleoperation of a 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