触覚で群れを導く：ウェアラブル触覚インタフェースとインピーダンス制御によるマイクロクアッドロータ群の誘導
SwarmTouch: Guiding a Swarm of Micro-Quadrotors with Impedance Control using a Wearable Tactile Interface
ウェアラブル触覚デバイスとインピーダンス制御を組み合わせ、人間が触覚フィードバックのみでドローン群を安全かつ滑らかに誘導できる新手法を提案し、飛行実験で障害物環境下でのナビゲーションを実証した。
著者: Evgeny Tsykunov, Ruslan Agishev, Roman Ibrahimov, Luiza Labazanova, Akerke Tleugazy, Dzmitry Tsetserukou
分類: cs.RO
原文アブストラクト
To achieve a smooth and safe guiding of a drone formation by a human operator, we propose a novel interaction strategy for a human-swarm communication which combines impedance control and vibrotactile feedback. The presented approach takes into account the human hand velocity and changes the formation shape and dynamics accordingly using impedance interlinks simulated between quadrotors, which helps to achieve a natural swarm behavior. Several tactile patterns representing static and dynamic parameters of the swarm are proposed. The user feels the state of the swarm at the fingertips and receives valuable information to improve the controllability of the complex formation. A user study revealed the patterns with high recognition rates. A flight experiment demonstrated the possibility to accurately navigate the formation in a cluttered environment using only tactile feedback. Subjects stated that tactile sensation allows guiding the drone formation through obstacles and makes the human-swarm communication more interactive. The proposed technology can potentially have a strong impact on the human-swarm interaction, providing a higher level of awareness during the swarm navigation.
