Motion feedback in the teleoperation of unmanned aerial vehicles

Teleoperation of Unmanned Aerial Vehicles (UAVs) is a valuable tool in scenarios where the operator needs to be protected from hazardous environments or where on-board operation is impossible. Technical limitations, e. g., sensor performance, noise and latencies introduced in the transmission, and ineffective display of the information to the operator can lead to reduced performance and in the worst case a loss of the remote vehicle. The spatial decoupling between the operator and the vehicle is one of the main challenges in teleoperation. This dissertation provides an analysis of providing two types of additional feedback, i. e., vehicle-state and task-related motion feedback, by physically moving the operator using the CyberMotion Simulator. The additional information included in the motion feedback can be used by the operator to improve performance and control behavior of remote UAVs.